Warehousing system

Abstract

The utility model provides a warehousing system which comprises at least one layer of platform, at least one layer of platform and the ground are arranged in a spaced mode in the height direction, and each layer of platform is provided with an inventory area and a working area of warehousing equipment. The at least one storage device comprises a bearing device and a taking and placing device, the taking and placing device is movably arranged on the bearing device, and the storage device is configured to move at least in the height direction relative to the bearing device through the taking and placing device so as to obtain the target object or the target container with the target object from the designated position of the at least one layer of platform; or placing the obtained target object or the target container with the target object at a specified position; and at least one carrying device is operated on each layer of platform, and the carrying devices are configured to move between the inventory area and the working area so as to carry the target objects or the target containers containing the target objects or the target carriers where the target containers are located. The storage capacity of the warehouse can be improved, goods on multiple layers of platforms can be sorted, and the sorting efficiency is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to warehouse management technical field especially relates to a warehouse system. BACKGROUND

[0002] In warehouse management, a plurality of storage warehouses can be constructed by steel platforms, and when picking goods on the upper layer of the plurality of storage warehouses, a picking workbench needs to be added on the upper layer platform, or a carrying device needs to carry the goods on the upper layer to the picking workbench on the lower layer for picking, resulting in low picking efficiency. SUMMARY

[0003] The utility model provides a warehouse system to solve the problem in related technical field.

[0004] The utility model solves the above -mentioned problem through the following technical scheme, the warehouse system provided by the utility model, including at least one platform, at least one platform is spaced apart from ground along height direction, wherein each platform is arranged with the work area of warehouse equipment and inventory area, the inventory area is equipped with at least one carrier, and each carrier stores at least one container;At least one warehouse equipment, including bearing device and taking and placing device, taking and placing device is movably arranged on bearing device, and the warehouse equipment is configured to move at least along the height direction relative to bearing device through taking and placing device to obtain target object or target container with target object from the specified position of at least one platform or place target object or target container with target object in the specified position;At least one carrying device, at least one carrying device is operated on each platform, and the carrying device is configured to move between the inventory area and the work area to carry target object or target container with target object or target container on target carrier, and the target carrier is any one carrier on any one platform.

[0005] Further, the carrying device is configured to perform at least one of the following: moving to the inventory area to carry the target object or the target container or the target carrier;Carrying the target object or the target container or the target carrier to the work area so that the warehouse equipment obtains the target object or the target container with the target object and carries the target object or the target container with the target object to the specified position;Carrying the target object or the target container with the target object or the target carrier from the work area to the inventory area.

[0006] Further, the storage device further comprises a workbench, the workbench being provided with at least one work station; the at least one storage device is configured to perform at least one of the following: moving, by the taking and placing device, the target object on the at least one platform or the target container in which the target object is placed, or the target object carried by the carrying device on the at least one platform or the target container in which the target object is placed, or the target container carried by the carrying device on the at least one platform, to the work station of the workbench; carrying the target object or the target container in which the target object is placed, which is picked at the work station of the workbench, to the platform to which the target container belongs, or to the storage device on the platform to which the target container belongs, or to the target carrier on the platform to which the target container belongs.

[0007] Further, the at least one platform is arranged around the storage device; or at least one side of the at least one platform is provided with the storage device.

[0008] Further, the specified position comprises at least one of the following: a work area, a work station of the workbench, a shelf, a tray, a sowing wall, and a carrying position of the carrying device.

[0009] Further, the at least one platform comprises: a first platform, the first platform being arranged with a first inventory area; and a second platform, the second platform being arranged above the first platform in the height direction, the second platform being arranged with a second inventory area.

[0010] Further, the second platform is hollowed in a hollow region, the second inventory area is arranged around the storage device, the second platform is in communication with the first platform through the hollow region, so that the carrying device extends above the second platform through the hollow region, and the storage device is configured to obtain the target object on at least two sides of the hollow region of the second platform, or place the target object on at least two sides of the hollow region of the second platform.

[0011] Further, the work area is arranged at a first side of the first platform, and a corresponding region of the first side of the second platform is hollowed, so that the at least one carrying device extends above the second platform.

[0012] Further, the hotness of the goods in the first inventory area is greater than or equal to the hotness of the goods in the second inventory area, and the hotness of the goods is used to represent the probability of the container in which the goods are located being hit.

[0013] Further, the first inventory area comprises a plurality of first storage units, and the second inventory area comprises a plurality of second storage units, each of the plurality of first storage units and the plurality of second storage units comprises at least one carrier, each carrier comprises at least one storage position, and each storage position is arranged with a container; the number of the plurality of first storage units is less than or equal to the number of the plurality of second storage units, or the average number of carriers of the plurality of first storage units is less than or equal to the average number of carriers of the plurality of second storage units.

[0014] Further, the first carrying passage is arranged between the plurality of first storage units, and the carrying device on the first platform is configured to carry the target container or the target carrier on which the target container is located on the first platform to the storage device through the first carrying passage; the second carrying passage is arranged between the second storage units, and the carrying device on the second platform is configured to carry the target container or the target carrier on which the target container is located on the second platform to the storage device through the second carrying passage.

[0015] Further, the carrying device comprises at least two carriers, the carriers are arranged at intervals; the taking and placing device comprises a taking and placing assembly and a taking and placing platform, the taking and placing platform is movably arranged between the adjacent carriers, the taking and placing assembly is connected with the taking and placing platform, the taking and placing assembly has a first end and a second end opposite in the first direction, at least one of the first end and the second end extends away from the carriers in the first direction and beyond the taking and placing platform, and the taking and placing assembly is configured to obtain the target object or the target container with the target object from the specified position or place the obtained target object or the target container with the target object in the specified position.

[0016] Further, the taking and placing assembly has a containing space, and the taking and placing assembly is configured to obtain the target object from the specified position and place the target object in the containing space or obtain the target object from the containing space and place the target object in the specified position.

[0017] Further, the taking and placing assembly comprises: a first support, the first support has a first end and a second end opposite in the first direction, and the first end of the first support is connected with the taking and placing platform; a second support, the second support has a first end and a second end opposite in the first direction, and the first end of the second support is connected with the taking and placing platform, the first support and the second support are arranged at intervals in the second direction to form the containing space, the containing space is provided with an opening in the first direction, and the second direction forms a preset angle with the first direction; and a taking and placing piece, the taking and placing piece is located between the first support and the second support in the second direction, wherein the taking and placing piece and the opening are at least one, and the taking and placing piece is configured to obtain the target object or the target container with the target object from the specified position or place the target object or the target container with the target object in the specified position through any one of the at least one opening, or the taking and placing piece and the opening are multiple, and the multiple taking and placing pieces are configured to obtain the target object or the target container with the target object from the specified position or place the target object or the target container with the target object in the specified position through the corresponding openings respectively.

[0018] Further, the carrying device further comprises a driving member and an execution assembly, the execution assembly comprises a first rotating member, a second rotating member and a first connecting member, the first rotating member and the second rotating member are arranged at intervals along a third direction on the carrying member and are rotatable relative to the carrying member, the third direction is a height direction, the driving member is connected with the first rotating member, the first connecting member is arranged around the first rotating member and the second rotating member, and the first connecting member is connected with the taking and placing platform, and the execution assembly is configured to drive the taking and placing platform to move along the third direction, so that the storage device obtains the target object or the target container with the target object from the specified position of the at least one layer of platforms or places the obtained target object or the target container with the target object in the specified position.

[0019] Further, the carrying device further comprises an execution assembly arranged on the carrying member, a transmission assembly connected with two execution assemblies on two adjacent carrying members respectively, and a driving member connected with the transmission assembly to drive the two execution assemblies to operate synchronously through the transmission assembly, so that the taking and placing device moves relative to the carrying device at least along the height direction to obtain the target object or the target container with the target object from the specified position of the at least one layer of platforms or place the obtained target object or the target container with the target object in the specified position.

[0020] Further, the carrying member extends along the third direction, and when the size of the carrying member along the third direction is greater than or equal to a threshold value, the carrying member is provided with a reinforcing member; the types of the storage devices include a first type and a second type, the size of the carrying member of the storage device of the first type is greater than or equal to the size of the carrying member of the storage device of the second type, and the working height of the taking and placing device of the storage device of the first type is greater than the working height of the taking and placing device of the storage device of the second type, so that the number of platforms capable of being docked by the storage device of the first type is greater than the number of platforms capable of being docked by the storage device of the second type.

[0021] Further, the number or proportion of the storage devices of the first type and the storage devices of the second type is a default value; or the number or proportion of the storage devices of the first type and the storage devices of the second type is related to the area of the platform on which the storage device of the first type is located and the area of the platform on which the storage device of the second type is located; or the number or proportion of the storage devices of the first type and the storage devices of the second type is related to the cargo heat of the platform on which the storage device of the first type is located and the cargo heat of the platform on which the storage device of the second type is located.

[0022] Further, the storage device is configured to drive the taking and placing device to move relative to the carrying device according to the carrying instruction to obtain the target object or the target container with the target object from the specified position of the at least one layer of platforms or place the obtained target object or the target container with the target object in the specified position.

[0023] Further, the system further comprises a management system, the storage device is communicatively connected with the management system, the management system is configured to send a carrying instruction to the storage device, and the storage device is configured to drive the taking and placing device to move according to the carrying instruction.

[0024] Further, the carrier comprises at least one of a shelf, a tray, a seeding wall, a bin robot, and a sorting device, wherein: the carrier is a shelf, and the storage device is configured to drive the taking and placing device to move according to the carrying instruction to obtain the target object from the shelf or carry the obtained target object to the shelf; the carrier is a bin robot, and the storage device is configured to drive the taking and placing device to move according to the carrying instruction to obtain the target object from the bin robot or carry the obtained target object to the bin robot; the carrier comprises a first shelf and a second shelf, and the storage device is configured to drive the taking and placing device to move according to the carrying instruction to obtain the target object from at least one of the first shelf and the second shelf or carry the obtained target object to at least one of the first shelf and the second shelf or carry the target object of one of the first shelf and the second shelf to the other of the first shelf and the second shelf; the carrier is a seeding wall, and the storage device is configured to drive the taking and placing device to move according to the carrying instruction to obtain the target object from the seeding wall or carry the obtained target object to the seeding wall; the carrier is a sorting device, and the storage device is configured to drive the taking and placing device to move according to the carrying instruction to obtain the target object from the sorting device or carry the obtained target object to the sorting device; the carrier is a plurality of carriers, and the storage device is configured to drive the taking and placing device to move according to the carrying instruction to carry the target object located in at least one of the carriers to at least another carrier or a specified location or carry the target object located in the specified location to at least one of the carriers, wherein the plurality of carriers comprises one or more of a shelf, a bin robot, a seeding wall, and a sorting device and a multi-layer sorting platform.

[0025] Further, a plurality of support structures are arranged between the at least one layer of platforms, the plurality of support structures extend along a height direction to space the at least one layer of platforms from the ground along the height direction, and the plurality of support structures are arranged in a direction perpendicular to the height direction.

[0026] Further, the working area comprises a waiting area, an operation area, and a departure area, wherein the carrying device carries the target object or the target container or the target carrier to the operation area to enable the taking and placing device of the storage device to take and place the target object or the target container; the carrying device queues in the waiting area to wait for entering the operation area; the carrying device departs through the departure area after taking and placing the target object or the target container; and at least one of the waiting area and the departure area is arranged side by side with the operation area.

[0027] The warehouse system provided by the utility model can construct at least one platform, each platform can be provided with multiple shelves, multiple storage warehouses can be constructed to realize intensive storage, and the goods on the multiple platforms can be carried, based on the structure, the goods placed on the multiple storage platforms can be sorted without setting a sorting workstation on a high layer, and the sorting efficiency of the goods can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the utility model, the drawings needed in the embodiments or the prior art description will be briefly introduced, and obviously, the drawings in the following description are only some embodiments of the utility model, and other drawings can be obtained by those skilled in the art without creative labor on the premise of not paying creative labor.

[0029] Figure 1 It is a structural schematic view of the warehouse equipment according to the embodiment of the utility model;

[0030] Figure 2 It is a partial structural schematic view of the bearing device according to the embodiment of the utility model;

[0031] Figure 3 It is a partial structural schematic view of the bearing device according to the embodiment of the utility model;

[0032] Figure 4 It is a partial structural schematic view of the bearing device according to the embodiment of the utility model;

[0033] Figure 5 It is a structural schematic view of the bearing piece of the bearing device according to the embodiment of the utility model;

[0034] Figure 6 It is a partial structural schematic view of the bearing piece of the bearing device according to the embodiment of the utility model;

[0035] Figure 7 It is a structural schematic view of the bearing seat of the bearing device according to the embodiment of the utility model;

[0036] Figure 8 It is a structural schematic view of the bearing seat of the bearing device according to the embodiment of the utility model;

[0037] Figure 9 It is a partial structural schematic view of the bearing device according to the embodiment of the utility model;

[0038] Figure 10 It is a partial structural schematic view of the bearing device according to the embodiment of the utility model;

[0039] Figure 11is a partial structure schematic view of the bearing device according to the embodiment of the utility model;

[0040] Figure 12 is a structure schematic view of the warehouse system according to the embodiment of the utility model;

[0041] Figure 13 is a structure schematic view of the taking and placing device according to the embodiment of the utility model;

[0042] Figure 14 is a structure schematic view of the taking and placing device according to the embodiment of the utility model;

[0043] Figure 15 is a partial structure schematic view of the taking and placing device according to the embodiment of the utility model;

[0044] Figure 16 is a partial structure schematic view of the taking and placing device according to the embodiment of the utility model.

[0045] Figure 17 is a side view of the workbench according to the embodiment of the utility model;

[0046] Figure 18 is a partial enlarged view of the workbench according to the embodiment of the utility model;

[0047] Figure 19 is a partial structure schematic view of the workbench according to the embodiment of the utility model;

[0048] Figure 20 is a side view of the workbench according to the embodiment of the utility model;

[0049] Figure 21 is a partial enlarged view of the workbench according to the embodiment of the utility model;

[0050] Figure 22 is a partial structure schematic view of the workbench according to the embodiment of the utility model;

[0051] Figure 23 is a top view of the workbench according to the embodiment of the utility model;

[0052] Figure 24 is a front view of the workbench according to the embodiment of the utility model;

[0053] Figure 25 is a structure schematic view of the warehouse system according to the embodiment of the utility model;

[0054] Figure 26 is a top view of the first platform according to the embodiment of the utility model;

[0055] Figure 27is a top view of the second platform according to the embodiment of the utility model;

[0056] Figure 28 is a structural schematic view of the storage equipment according to the embodiment of the utility model;

[0057] Figure 29 is a partial structural schematic view of the work area according to the embodiment of the utility model.

[0058] Reference signs:

[0059] Storage equipment 100, first type storage equipment 101, second type storage equipment 102

[0060] Carrying device 1,

[0061] Carrier 11,

[0062] First limiting groove 115, first side wall surface 1151, second side wall surface 1152, opening 1153,

[0063] Second limiting groove 116, third side wall surface 1161, fourth side wall surface 1162, opening 1163,

[0064] First part 1171, second part 1172, first limiting plate 1181,

[0065] Second limiting plate 1182, first sub-plate 11821, second sub-plate 11822,

[0066] Third limiting plate 1183,

[0067] Fourth limiting plate 1184, third sub-plate 11841, fourth sub-plate 11842,

[0068] Fifth limiting plate 1185, positioning groove 11851, fifth side wall surface 11852, sixth side wall surface 11853, bottom wall surface 11854,

[0069] Plate body 11855, third limiting convex part 11856

[0070] Supporting plate 1186, avoiding groove 11861,

[0071] Adjusting assembly 12, fixed connecting piece 121, moving connecting piece 122, threaded part 123,

[0072] Executing assembly 13, first connecting piece 131, first rotating piece 132, shaft 133, second rotating piece 134,

[0073] Bearing seat 136, seat body 1361, first seat body 13611, second seat body 13612, first connecting part 13613, second connecting part 13614,

[0074] first limiting protrusion 1363, second limiting protrusion 1364, positioning portion 1365,

[0075] limiting assembly 14, limiting body 141, first mounting portion 1411, second mounting portion 1412, connecting portion 1413, bearing portion 1414, first limiting piece 142, second limiting piece 143, third limiting piece 144, fourth limiting piece 145,

[0076] driving piece 15,

[0077] transmission assembly 18, speed reducer 181, transmission shaft 182, shaft couplings 183, 184, 185,

[0078] connecting beam 161, bearing seat 162,

[0079] pick-and-place device 2,

[0080] mounting seat 29, pick-and-place assembly 21, first end portion 211, second end portion 212, containing space 213,

[0081] first support piece 22, first end portion 221, second end portion 222, first support beam 224, first mounting portion 225, first plate portion 2251, first rod portion 2252, first connecting portion 226,

[0082] second support piece 23, first end portion 231, second end portion 232, second support beam 234, second mounting portion 235, second plate portion 2351, second rod portion 2352, second connecting portion 236,

[0083] second guide portion 241, gear wheel 242,

[0084] first support portion 251, second support portion 252,

[0085] first conveying piece 261, second conveying piece 262, pick-and-place piece 263,

[0086] motor 271, speed reducer 272,

[0087] pick-and-place platform 28, first guide portion 281, gear rack 282,

[0088] workbench 3,

[0089] main body 31, work station 311, first end portion 3111, second end portion 3112,

[0090] first side edge 312, second side edge 313,

[0091] table body 314, first mounting portion 3141, second mounting portion 3142,

[0092] Mounting bracket 315, third end 3151, fourth end 3152, third mounting part 3153, fourth mounting part 3154

[0093] First stop 321, first edge 3215, second edge 3216, inclined segment 3217

[0094] Second stop 322

[0095] Shielding component 323, first edge 3232, second edge 3233, inclined segment 3234

[0096] First mounting component 331, second mounting component 332, third mounting component 333, fourth mounting component 334

[0097] Detector 34, transmitter 341, receiver 342

[0098] Platform 4

[0099] First storage area 41, first storage unit 411, vehicle 4111, first transport channel 412

[0100] Second platform 5

[0101] Second storage area 51, second storage unit 511, second handling channel 512

[0102] Hollow area 52

[0103] Supporting structure 6

[0104] Work area 7

[0105] Waiting area 71, operating area 72, departure area 73. Detailed Implementation

[0106] Numerous specific details are set forth in the following description to provide a full understanding of this disclosure. However, this disclosure can be implemented in many other ways than those described herein, and those skilled in the art can make similar extensions without departing from the spirit of this disclosure. Therefore, this disclosure is not limited to the specific implementations disclosed below.

[0107] The terminology used in one or more embodiments of this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the one or more embodiments of this disclosure. The singular forms “a,” “the,” and “the” as used in one or more embodiments of this disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used in one or more embodiments of this disclosure refers to and includes any or all possible combinations of one or more associated listed items.

[0108] It should be understood that, although the terms first, second, etc. can be employed in describing various information in one or more embodiments of the present disclosure, the information should not be limited to these terms. These terms are only used to differentiate one piece of information from another. For example, without departing from the scope of one or more embodiments of the present disclosure, first can also be referred to as second, and similarly, second can also be referred to as first. Depending on the context, the word "if' as used herein can be interpreted to mean "when" or "upon" or "in response to determining."

[0109] In the present application, the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms is not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples without contradiction.

[0110] Although the embodiments of the present application have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

[0111] The scheme of the present application is described below in connection with examples.

[0112] The warehouse system provided by the present application comprises at least one platform, at least one platform is arranged along the height direction and spaced apart from the ground, wherein each platform is arranged with a storage area and a working area of a warehouse device, the storage area is provided with at least one carrier, and each carrier stores at least one container; at least one warehouse device, comprising a bearing device and a taking and placing device, the taking and placing device is movably arranged on the bearing device, the warehouse device is configured to move at least along the height direction relative to the bearing device through the taking and placing device, so as to obtain a target object or a target container with a target object from a specified position of at least one platform, or place the obtained target object or the target container with the target object in the specified position; at least one carrying device, at least one carrying device is arranged on each platform, and the carrying device is configured to move between the storage area and the working area to carry the target object or the target container with the target object or the target carrier where the target container is located. The target carrier is any one of the carriers on any one of the platforms.

[0113] As Figures 1-24As shown, the storage equipment 100 of this utility model embodiment includes a supporting device 1 and a picking and placing device 2, the picking and placing device being movably disposed on the supporting device.

[0114] The carrying device 1 includes at least two carrying members 11, which are spaced apart from each other. The picking and placing device includes a picking and placing assembly 21 and a picking and placing platform 28, which is movably disposed between adjacent carrying members 11, and the picking and placing assembly 21 is connected to the picking and placing platform 28.

[0115] The pick-and-place assembly 21 has a first end 211 and a second end 212 opposite each other in a first direction, at least one of the first end 211 and the second end 212 extending away from the carrier 11 and beyond the pick-and-place platform 28 in the first direction. The pick-and-place assembly 21 is configured to pick up a target object from a designated location or place the picked-up target object at a designated location.

[0116] By movably positioning the pick-and-place platform 28 between adjacent support members 11, the pick-and-place device 2 can be more securely mounted on the support device 1. Furthermore, by extending at least one of the first end 211 and the second end 212 of the pick-and-place assembly 21 away from the support member 11 in a first direction and beyond the pick-and-place platform 28, the pick-and-place device 2 can be more easily coupled with a vehicle or the like.

[0117] Therefore, the storage equipment 100 according to the present utility model has advantages such as stable structure and easy to cooperate with the carrier.

[0118] like Figures 1-24 As shown, the storage equipment 100 according to an embodiment of the present invention includes a carrying device 1, a picking and placing device 2, and a workbench 3. The workbench has at least one workstation; at least one storage device is configured to perform at least one of the following: by moving the picking and placing device relative to the carrying device at least in the height direction, transporting a target object or a target container with a target object placed on at least one layer platform, or a target object or a target container with a target object placed on at least one layer platform transported by a handling device on at least one layer platform, or a target container on a target carrier transported by a handling device on at least one layer platform, to the workstation of the workbench; transporting the target object or the target container with a target object placed on the workstation of the workbench to the platform to which the target container belongs, or to the storage device on the platform to which the target container belongs, or to the target carrier on the platform to which the target container belongs.

[0119] The supporting device 1 includes at least two supporting members 11, which are spaced apart from each other along a second direction. For example, the supporting members 11 are arranged side by side along the second direction. The second direction forms a predetermined angle with the first direction, for example, the second direction is orthogonal to the first direction.

[0120] Optionally, the plurality of taking and placing devices 2 are arranged between the adjacent two carriers 11 and arranged along the third direction. Thus, the storage device 100 can realize multi-taking and placing to improve work efficiency.

[0121] The carriers 11 are at least three, and one taking and placing device 2 or a plurality of taking and placing devices 2 arranged along the third direction are arranged between the adjacent two carriers 11. Thus, the storage device 100 can realize multi-platform and multi-taking and placing to improve work efficiency.

[0122] The carrying device 1 further comprises an execution assembly 13, a transmission assembly 18 and a driving member 15. The execution assembly 13 is arranged on the carrier 11. The transmission assembly 18 is connected with the two execution assemblies 13 on the adjacent two carriers 11 respectively. The driving member 15 is connected with the transmission assembly 18 to drive the two execution assemblies 13 to operate synchronously through the transmission assembly 18.

[0123] By driving the two execution assemblies 13 on the adjacent two carriers 11 to operate synchronously through the driving member 15, the structure of the carrying device 1 and the storage device 100 can be simplified, the manufacturing cost of the carrying device 1 and the storage device 100 can be reduced, and the synchronization of the two execution assemblies 13 on the adjacent two carriers 11 can be improved.

[0124] As shown in Figure 3 , the transmission assembly 18 comprises a speed reducer 181 and a transmission shaft 182. The speed reducer 181 has an input shaft and an output shaft, and the input shaft of the speed reducer 181 is connected with the driving member 15. The two execution assemblies are detachably connected with the output shaft of the speed reducer 181 respectively. At least one of the two execution assemblies is detachably connected with the output shaft of the speed reducer 181 through the transmission shaft 182.

[0125] The input shaft of the speed reducer 181 is connected with the driving shaft of the driving member 15, and the output shaft of the speed reducer 181 extends along the second direction. The output shaft of the speed reducer 181 is connected with the two execution assemblies 13 on the adjacent two carriers 11. Thus, the two execution assemblies 13 on the adjacent two carriers 11 can be controlled more accurately, and the displacement of the taking and placing device 2 in the third direction can be controlled more accurately.

[0126] Optionally, the driving member 15 comprises a motor. The first direction, the second direction and the third direction are orthogonal to each other.

[0127] As shown in Figure 2 and Figure 3As shown, the execution assembly 13 further comprises a shaft 133 connected with the first rotating member 132 of the execution assembly 13. A first end of the shaft 133 is detachably connected with a first end of the output shaft of the speed reducer 181. Thus, the transmission assembly 18 and the different execution assemblies 13 can constitute relatively independent module units, so as to not only facilitate the connection of the transmission assembly 18 and the different execution assemblies 13 together, but also facilitate the disassembly, transportation, replacement, etc. of at least one of the transmission assembly 18 and the different execution assemblies 13.

[0128] Optionally, the transmission shaft 182 extends along a second direction. A first end of the transmission shaft 182 is detachably connected with a first end of the output shaft of the speed reducer 181, and a second end of the transmission shaft 182 is detachably connected with a first end of the shaft 133 of the one execution assembly 13. By arranging the transmission shaft 182 connected with the speed reducer 181 and the shaft 133 of the one execution assembly 13, the length of the shaft 133 of the one execution assembly 13 can be reduced, so as to make the execution assembly 13 more convenient for transportation, disassembly, replacement, etc.

[0129] Specifically, by connecting the shaft 133 of the one execution assembly 13 with the speed reducer 181 through the transmission shaft 182, not only the length of the shaft 133 of the one execution assembly 13 can be reduced, but also the speed reducer 181 can be arranged away from the shaft 133 of the one execution assembly 13 and close to the shaft 133 of the other execution assembly 13, so as to reduce the length of the shaft 133 of the other execution assembly 13.

[0130] As shown in Figure 2 and Figure 3 A first end of the transmission shaft 182 is detachably connected with a first end of the output shaft of the speed reducer 181 through a coupling 1343 (e.g. a plum coupling), a second end of the transmission shaft 182 is detachably connected with a first end of the shaft 133 of the one execution assembly 13 through a coupling 1344 (e.g. a plum coupling), and a first end of the shaft 133 of the other execution assembly 13 is detachably connected with a second end of the output shaft of the speed reducer 181 through a coupling 1345 (e.g. a plum coupling).

[0131] Optionally, the driving shaft of the driving member 15 extends along a second direction. Thus, the structure of the transmission assembly 18 and the driving member 15 can be more compact and occupy less space.

[0132] As shown in Figure 2 and Figure 3As shown, the frame body includes a connecting beam 161 and a plurality of third bearing seats 162. The connecting beam 161 extends along the second direction, and the connecting beam 161 is connected with each of the two adjacent carriers 11. The speed reducer 181 is arranged on the connecting beam 161, so as to more stably and easily mount the speed reducer 181 and the driving member 15.

[0133] The plurality of bearing seats 162 are arranged on the connecting beam 161 at intervals along the second direction, and each bearing seat 162 is provided with a bearing, and the transmission shaft 182 is rotatably supported by the plurality of bearings. In this way, the transmission shaft 182 can be more stably mounted, and the transmission shaft 182 can more stably transmit power.

[0134] As shown in Figure 2 , Figure 3 and Figures 9-11 , the execution assembly 13 includes a first rotating member 132, a second rotating member 134, and a first connecting member 131. The first rotating member 132 and the second rotating member 134 are arranged at intervals along the third direction on the carrier 11 and are rotatable relative to the carrier 11, and the driving member is connected with the first rotating member 132. The first connecting member 131 is arranged around the first rotating member 132 and the second rotating member 134, and the first connecting member 131 is connected with the taking and placing platform 28. The execution assembly 13 is configured to drive the taking and placing platform 28 to move along the third direction.

[0135] Optionally, the execution assembly 13 is embedded in the carrier 11. In this way, the structure of the execution assembly 13 and the carrier 11 can be more compact, the space occupied by the execution assembly 13 and the carrier 11 can be reduced, and the space occupied by the carrying device 1 can be further reduced.

[0136] The first connecting member 131 is configured as a belt, and the first rotating member 132 and the second rotating member 134 are both configured as pulleys. Alternatively, the first connecting member 131 is configured as a chain, and the first rotating member 132 and the second rotating member 134 are both configured as sprockets.

[0137] Optionally, the driving member 15 and the transmission assembly 18 are adjacent to the upper end of the execution assembly 13 in the up-down direction. That is, the driving member 15 and the transmission assembly 18 are adjacent to the upper end of the carrier 11 in the up-down direction. In this way, the driving member (the first rotating member 132) of the execution assembly 131 is located above, so that the gravity of the taking and placing device 2 can be used to provide tension to the first connecting member 131 of the execution assembly 13.

[0138] If the second rotating member 134 of the execution assembly 13 is the driving member, it is necessary to apply upward tension to the first connecting member 131, and the gravity of the taking and placing device 2 will counteract the tension of the first connecting member 131. Therefore, it is necessary to apply greater tension to the first connecting member 131.

[0139] By making the first rotating piece 132 of the execution assembly 13 a driving piece, the tension force borne by the first connecting piece 131 can be effectively reduced. Thus, the service life of the first connecting piece 131 can be prolonged, and the width of the first connecting piece 131 can be reduced, so as to reduce the volume and the occupied space of the execution assembly 13, and reduce the manufacturing cost of the execution assembly 13.

[0140] As shown in Figures 4-6 and Figure 9 , the carrier 11 has a first limiting slot 115 and a second limiting slot 116, and the opening 1153 of the first limiting slot 115 and the opening 1163 of the second limiting slot 116 are oppositely open in the first direction.

[0141] In order to make the technical solutions of the present application easier to be understood, the technical solutions of the present application are described below by taking the first direction as the front-back direction. The first limiting slot 115 is located in front of the second limiting slot 116, the opening 1153 of the first limiting slot 115 is open toward the rear, and the opening 1163 of the second limiting slot 116 is open toward the front.

[0142] For example, the second direction is the left-right direction, and the third direction is the up-down direction. The first direction is shown by the arrow A in Figure 1 , the second direction is shown by the arrow B in Figure 1 , and the third direction is shown by the arrow C in Figure 1 .

[0143] As shown in Figures 9-11 , the carrying device 1 further comprises a limiting assembly 14, which is arranged on the first connecting piece 131. The taking-and-placing platform 28 is connected to at least one of the limiting assembly 14 and the first connecting piece 131. The limiting assembly 14 is movably fitted in the first limiting slot 115 and the second limiting slot 116. By arranging the first limiting slot 115 and the second limiting slot 116 with oppositely open openings, the limiting assembly 14 can be located on the inner side of the carrying device 1. Thus, the space occupied by the limiting assembly 14 in the first direction can be reduced, and the space occupied by the carrying device 1 in the first direction can be reduced.

[0144] As shown in Figures 9-11 , the limiting assembly 14 comprises a limiting body 141, a first limiting piece 142, and a second limiting piece 143. The limiting body 141 is connected to the first connecting piece 131, so that the limiting body 141 moves under the driving of the first connecting piece 131. The first limiting piece 142 and the second limiting piece 143 are arranged on the limiting body 141. The first limiting piece 142 is movably fitted with the bottom wall surface of the first limiting slot 115, and the second limiting piece 143 is movably fitted with the bottom wall surface of the second limiting slot 116, so as to limit in the first direction. Thus, the structure of the limiting assembly 14 can be more reasonable.

[0145] AsFigures 9-11 As shown in the figure, the first limiting member 142 is configured as a first roller and can roll against the bottom wall surface of the first limiting slot 115, and the second limiting member 143 is configured as a second roller and can roll against the bottom wall surface of the second limiting slot 116. Thus, the structure of the limiting assembly 14 can be more simple and reasonable.

[0146] Alternatively, the bottom wall surface of the first limiting slot 115 is provided with a first sliding rail, the first limiting member 142 has a first sliding groove matched with the first sliding rail, the bottom wall surface of the second limiting slot 116 is provided with a second sliding rail, and the second limiting member 143 has a second sliding groove matched with the second sliding rail. Thus, the structure of the limiting assembly 14 can be more simple and reasonable.

[0147] As shown in the figure, Figures 4-6 and Figures 9-11 As shown in the figure, the first limiting slot 115 has two side wall surfaces opposite in the second direction, the second limiting slot 116 has two side wall surfaces opposite in the second direction, and the second direction forms a preset angle with the first direction. The limiting assembly 14 comprises a limiting body 141, a third limiting member 144 and a fourth limiting member 145.

[0148] The limiting body 141 is connected with the first connecting member 131 so that the limiting body 141 moves under the driving of the first connecting member 131. The third limiting member 144 and the fourth limiting member 145 are arranged on the limiting body 141, the third limiting member 144 is movably matched with the two side wall surfaces of the first limiting slot 115, and the fourth limiting member 145 is movably matched with the two side wall surfaces of the second limiting slot 116, so as to limit in the second direction.

[0149] Thus, the third limiting member 144 and the fourth limiting member 145 can be used to limit in the second direction, so that the limiting body 141 moves more accurately and stably with the first connecting member 131, and thus the taking and placing device 2 moves more accurately and stably with the executing assembly 13 up and down.

[0150] As shown in the figure, Figures 9-11 The third limiting member 144 is configured as a third roller and can roll against the two side wall surfaces of the first limiting slot 115, and the fourth limiting member 145 is configured as a fourth roller and can roll against the two side wall surfaces of the second limiting slot 116. Thus, the structure of the limiting assembly 14 can be more simple and reasonable.

[0151] Alternatively, the two side wall surfaces of the first limiting groove 115 are provided with third sliding rails, the third limiting member 144 has third sliding grooves matched with the third sliding rails, the two side wall surfaces of the second limiting groove 116 are provided with fourth sliding rails, and the fourth limiting member 145 has fourth sliding grooves matched with the fourth sliding rails. Thus, the structure of the limiting assembly 14 can be more simple and reasonable.

[0152] Optionally, as shown in Figures 4-6 and Figure 9 , the first limiting groove 115 has a first side wall surface 1151 and a second side wall surface 1152 opposite in the second direction, and the second limiting groove 116 has a third side wall surface 1161 and a fourth side wall surface 1162 opposite in the second direction. The third limiting member 144 is movably abutted against the first side wall surface 1151 and the second side wall surface 1152, and the fourth limiting member 145 is movably abutted against the third side wall surface 1161 and the fourth side wall surface 1162.

[0153] As shown in Figures 9-11 , the limiting body 141 comprises a bearing portion 1414, a first mounting portion 1411 and a second mounting portion 1412, and the taking-and-placing platform 28 is arranged on the bearing portion 1414. The first mounting portion 1411 and the second mounting portion 1412 are connected with the bearing portion 1414, and the first mounting portion 1411 and the second mounting portion 1412 are spaced apart from each other in the first direction. The execution assembly 13 is located between the first mounting portion 1411 and the second mounting portion 1412 in the first direction. The first limiting member 142 is arranged on the first mounting portion 1411, and the second limiting member 143 is arranged on the second mounting portion 1412. Thus, the structure of the limiting body 141 and the limiting assembly 14 can be more reasonable, and the structure of the limiting assembly 14 and the execution assembly 13 can be more compact.

[0154] Optionally, the third limiting member 144 is arranged on the first mounting portion 1411, and the fourth limiting member 145 is arranged on the second mounting portion 1412. Thus, the structure of the limiting assembly 14 can be more reasonable.

[0155] As shown in Figures 9-11 , the first connecting member 131 is located between the first mounting portion 1411 and the second mounting portion 1412 in the first direction, and the first limiting groove 115, the second limiting groove 116, the first connecting member 131, the first mounting portion 1411 and the second mounting portion 1412 are arranged opposite in the first direction. Thus, the structure of the bearing device 1 can be more reasonable.

[0156] As shown in Figure 10 and Figure 11As shown, the limiting body 141 further comprises a connecting portion 1413 connected with each of the first mounting portion 1411 and the second mounting portion 1412. A bearing portion 1414 is arranged on the connecting portion 1413. In this way, the structure of the limiting body 141 and the limiting assembly 14 can be more reasonable, and it is more convenient to install the taking and placing platform 28 (the taking and placing device 2).

[0157] As shown in Figures 9-11 , the first mounting portion 1411, the second mounting portion 1412, the connecting portion 1413 and the bearing portion 1414 are all plate-shaped. The first connecting member 131 can be a belt (for example, a synchronous belt), and the thickness direction of each of the first connecting member 131, the first mounting portion 1411 and the second mounting portion 1412 is consistent with the first direction. The thickness direction of the connecting portion 1413 is consistent with the second direction. The thickness direction of the bearing portion 1414 is perpendicular to the first direction and the second direction, for example, the thickness direction of the bearing portion 1414 is consistent with the third direction. In this way, the structure of the limiting assembly 14 and the bearing device 1 can be more reasonable.

[0158] For example, the thickness direction of the bearing portion 1414 is consistent with the up-down direction. The first connecting member 131, the first mounting portion 1411 and the second mounting portion 1412 are parallel to each other, and the first connecting member 131 (the first mounting portion 1411, the second mounting portion 1412), the connecting portion 1413 and the bearing portion 1414 are perpendicular to each other.

[0159] As shown in Figures 9-11 , the first limiting groove 115, the second limiting groove 116 and the executing assembly 13 are arranged opposite to each other in the first direction, so that the first limiting member 142, the second limiting member 143 and the executing assembly 13 are arranged opposite to each other in the first direction. In this way, the structure of the bearing device 1 can be more reasonable.

[0160] As shown in Figure 10 and Figure 11 , the bearing device 1 comprises an adjusting assembly 12, and the adjusting assembly 12 comprises a fixed connecting member 121, a moving connecting member 122 and a threaded member 123. Each of the fixed connecting member 121 and the moving connecting member 122 is connected with the first connecting member 131, and the fixed connecting member 121 is arranged on the bearing member 11, and the moving connecting member 122 is movably arranged on the bearing member 11 in the up-down direction, that is, the fixed connecting member 121 cannot move in the up-down direction.

[0161] The threaded member 123 is rotatably arranged on the bearing member 11, and the threaded member 123 extends in the up-down direction. The moving connecting member 122 is provided with a threaded hole, and a portion of the threaded member 123 is threadedly fitted in the threaded hole. In this way, by rotating the threaded member 123, the moving connecting member 122 can be moved in the up-down direction, so as to change the tension of the first connecting member 131.

[0162] AsFigure 4 , Figure 7 and Figure 8 As shown, the bearing device 1 also includes a bearing housing 136, which is disposed on the bearing member 11, and the first rotating member 132 is rotatably disposed on the bearing housing 136. This allows the first rotating member 132 to be more securely mounted on the bearing member 11.

[0163] The bearing housing 136 includes a housing body 1361, a first limiting protrusion 1363, and a second limiting protrusion 1364. A first rotating member 132 is rotatably disposed on the housing body 1361. The first limiting protrusion 1363 and the second limiting protrusion 1364 are disposed on the housing body 1361. The first limiting protrusion 1363 extends into a first limiting groove 115 and is in contact with one side wall of the first limiting groove 115. The second limiting protrusion 1364 extends into a second limiting groove 116 and is in contact with one side wall of the second limiting groove 116.

[0164] For example, the first limiting protrusion 1363 fits against the first side wall 1151 of the first limiting groove 115, and the second limiting protrusion 1364 fits against the third side wall 1161 of the second limiting groove 116. This allows for more precise and stable installation of the bearing housing 136, and consequently, more precise installation of the first rotating member 132 and its shaft 133, improving the coaxiality of the shaft 133 and the transmission shaft 182.

[0165] like Figure 6 As shown, the bearing member 11 is provided with a positioning groove 11851, which has two opposing sidewalls in a first direction. The bearing housing has a positioning part 1365, which fits into the positioning groove 11851. Thus, the positioning groove 11851 can be used to limit the bearing housing 136 in the first direction, thereby making the structure of the bearing device 1 more reasonable and allowing for more precise and stable installation of the bearing housing 136.

[0166] Optionally, the support member 11 extends along a third direction. If the dimension of the support member 11 along the third direction is greater than or equal to a threshold, a reinforcing member is provided on the support member 11. This makes the structure of the support member 11 and the support device 1 more stable, thereby better supporting the pick-and-place device 2.

[0167] In one example of this utility model, both the first limiting groove 115 and the second limiting groove 116 extend horizontally, and the limiting body 141 is movably disposed horizontally. That is, the actuating component 13 can drive the limiting body 141 to move horizontally, the first limiting member 142 is movably engaged in the first limiting groove 115 horizontally, and the second limiting member 143 is movably engaged in the second limiting groove 116 horizontally.

[0168] In another example of the utility model, the first limiting groove 115 and the second limiting groove 116 extend along the up-down direction, and the limiting body 141 is movably arranged along the up-down direction. That is, the execution assembly 13 can drive the limiting body 141 to move along the up-down direction, the first limiting part 142 is movably fitted in the first limiting groove 115 along the up-down direction, and the second limiting part 143 is movably fitted in the second limiting groove 116 along the up-down direction. Optionally, the bearing device 1 can be a portal frame, and the bearing 11 can be a column.

[0169] As shown in Figures 4-6 and Figure 9 The bearing 11 of the bearing device 1 includes a first part 1171, a second part 1172, a first limiting plate 1181, a second limiting plate 1182, a third limiting plate 1183 and a fourth limiting plate 1184. The first part 1171 and the second part 1172 are oppositely and spacedly arranged in the first direction.

[0170] The first limiting plate 1181 and the second limiting plate 1182 are arranged on the first part 1171 in the second direction, and the first part 1171, the first limiting plate 1181 and the second limiting plate 1182 define the first limiting groove 115. The third limiting plate 1183 and the fourth limiting plate 1184 are arranged on the second part 1172 in the second direction, and the second part 1172, the third limiting plate 1183 and the fourth limiting plate 1184 define the second limiting groove 116.

[0171] The first limiting convex part 1363 extends into the first limiting groove 115, and the first limiting convex part 1363 cooperates with the first limiting plate 1181 to limit the first limiting convex part 1363 (the bearing seat 136) in the second direction by the first limiting plate 1181. The second limiting convex part 1364 extends into the second limiting groove 116, and the second limiting convex part 1364 cooperates with the third limiting plate 1183 to limit the second limiting convex part 1364 (the bearing seat 136) in the second direction by the third limiting plate 1183.

[0172] Therefore, the first limiting plate 1181 and the third limiting plate 1183 can not only cooperate with the limiting assembly 14, but also cooperate with the bearing seat 136, so that the structure of the bearing 11 is simpler and the manufacturing cost is lower. That is, the bearing 11 does not need to set different structures to cooperate with the limiting assembly 14 and the bearing seat 136 respectively.

[0173] As shown in Figure 4As shown, the seat body 1361 is located between the second limiting plate 1182 and the fourth limiting plate 1184 in the first direction, and the seat body 1361 cooperates with the second limiting plate 1182 and the fourth limiting plate 1184. Thus, the seat body 1361 (the bearing seat 136) can be limited in the first direction by the second limiting plate 1182 and the fourth limiting plate 1184, so that the bearing seat 136 can be installed more accurately and stably, and the first rotating member 132 and the shaft 133 thereof can be installed more accurately.

[0174] Moreover, the second limiting plate 1182 and the fourth limiting plate 1184 can cooperate with the bearing seat 136 in addition to cooperating with the limiting assembly 14, so that the structure of the carrier 11 can be simpler and the manufacturing cost can be lower. That is, the carrier 11 does not need to be provided with different structures for cooperating with the limiting assembly 14 and the bearing seat 136 respectively.

[0175] As shown in Figs. 1 and 2, Figures 4-6 and Figure 9 As shown, the second limiting plate 1182 is L-shaped, and the second limiting plate 1182 includes a first sub-plate 11821 and a second sub-plate 11822 connected with each other. The first part 1171, the first limiting plate 1181 and the first sub-plate 11821 define the first limiting slot 115 therebetween. The seat body 1361 cooperates with the second sub-plate 11822. Thus, the contact area of the seat body 1361 (the bearing seat 136) and the second sub-plate 11822 (the second limiting plate 1182) can be effectively increased, so that the seat body 1361 (the bearing seat 136) can be limited more accurately and stably, and the bearing seat 136 can be installed more accurately and stably.

[0176] The fourth limiting plate 1184 is L-shaped, and the fourth limiting plate 1184 includes a third sub-plate 11841 and a fourth sub-plate 11842 connected with each other. The second part 1172, the third limiting plate 1183 and the third sub-plate 11841 define the second limiting slot 116 therebetween. The seat body 1361 cooperates with the fourth sub-plate 11842. Thus, the contact area of the seat body 1361 (the bearing seat 136) and the fourth sub-plate 11842 (the fourth limiting plate 1184) can be effectively increased, so that the seat body 1361 (the bearing seat 136) can be limited more accurately and stably, and the bearing seat 136 can be installed more accurately and stably.

[0177] As shown in Figs. 1 and 2, Figure 5 and Figure 6As shown, the carrier 11 comprises a support plate 1186 which is located between the second sub-plate 11822 and the fourth sub-plate 11842 in the first direction, and which is connected with the second sub-plate 11822 and the fourth sub-plate 11842. The seat body 1361 is supported on the support plate 1186, and the support plate 1186 is provided with an avoiding groove 11861 for avoiding the shaft 133 of the upper first rotating member 132. Thus, the bearing seat 136 can be more stably installed.

[0178] As shown in Figures 4-6 As shown, the carrier 11 comprises a fifth limiting plate 1185, and the second limiting plate 1182 (the fourth limiting plate 1184) is located between the fifth limiting plate 1185 and the first limiting plate 1181 in the second direction, and is located between the fifth limiting plate 1185 and the third limiting plate 1183 in the second direction.

[0179] At least a part of the seat body 1361 is located between the fifth limiting plate 1185, the first limiting plate 1181 and the third limiting plate 1183 in the second direction, and the seat body 1361 cooperates with the fifth limiting plate 1185. Thus, the seat body 1361 (the bearing seat 136) can be limited in the second direction by the fifth limiting plate 1185, the first limiting plate 1181 and the third limiting plate 1183, so that the bearing seat 136 can be more accurately and stably installed, and the upper first rotating member 132 and the shaft 133 thereof can be more accurately installed, thereby improving the coaxiality of the shaft 133 and the transmission shaft 182.

[0180] As shown in Figure 6 As shown, the fifth limiting plate 1185 is provided with a positioning groove 11851 which has a fifth side wall surface 11852 and a sixth side wall surface 11853 which are opposite in the first direction. The positioning portion 1365 of the bearing seat 136 cooperates between the fifth side wall surface 11852 and the sixth side wall surface 11853 in the first direction. The positioning portion 1365 of the bearing seat 136 is supported on the bottom wall surface 11854 of the positioning groove 11851.

[0181] Thus, the bearing seat 136 can be limited in the first direction by the fifth side wall surface 11852 and the sixth side wall surface 11853, and can be limited in the third direction by the bottom wall surface 11854 of the positioning groove 11851. Thus, the structure of the carrier device 1 and the carrier 11 can be more reasonable, and the bearing seat 136 can be more accurately and stably installed.

[0182] As shown in Figures 4-6As shown in the figure, the fifth limiting plate 1185 comprises a plate body 11855 and a third limiting protrusion 11856. The plate body 11855 is provided with a positioning groove 11851. The third limiting protrusion 11856 is arranged on the plate body 11855, and the seat body 1361 is matched with the third limiting protrusion 11856. That is, the third limiting protrusion 11856 is used to limit the bearing seat 136 in the second direction together with the first limiting plate 1181 and the third limiting plate 1183.

[0183] In this way, the bearing seat 136 can be installed on the bearing 11 by using a fastener (such as a bolt, a screw, etc.) passing through the plate body 11855 and the third limiting protrusion 11856 and matched in the seat body 1361. By arranging the third limiting protrusion 11856 on the plate body 11855, not only can the third limiting protrusion 11856 be used to limit the bearing seat 136 in the second direction, but also the bearing seat 136 can be installed on the bearing 11 by using the fastener passing through the third limiting protrusion 11856. That is, the third limiting protrusion 11856 has both limiting and installing functions.

[0184] As shown in the figures Figure 4 , Figure 7 and Figure 8 , the bearing seat 136 comprises a first seat body 13611, a second seat body 13612, a first connecting portion 13613 and a second connecting portion 13614. The first seat body 13611 and the second seat body 13612 are arranged at intervals in the second direction, and the first connecting portion 13613 and the second connecting portion 13614 are both provided with bearings.

[0185] The first connecting portion 13613 and the second connecting portion 13614 are located between the first seat body 13611 and the second seat body 13612 in the second direction. The first connecting portion 13613 and the second connecting portion 13614 are arranged at intervals in the first direction. The first connecting portion 13613 is connected with the first seat body 13611 and the second seat body 13612, and the second connecting portion 13614 is connected with the first seat body 13611 and the second seat body 13612. In this way, the structure of the bearing seat 136 is more reasonable and stable.

[0186] Alternatively, the bearing seat 136 is integrally formed, that is, the first seat body 13611, the second seat body 13612, the first connecting portion 13613 and the second connecting portion 13614 are integrally formed. In this way, the stress on the bearing seat 136 is more uniform, avoiding excessive local stress on the bearing seat 136, which may cause instability or even damage to the bearing seat 136. In addition, the bearing seat 136 can also have a split structure.

[0187] As shown in the figures Figure 4 , Figure 7 and Figure 8As shown, the first limiting protrusion 1363 is arranged on the first seat body 13611 and / or the first connecting portion 13613, the second limiting protrusion 1364 is arranged on the first seat body 13611 and / or the second connecting portion 13614, and the positioning portion 1365 of the bearing seat 136 is arranged on the second seat body 13612. In this way, the structure of the bearing seat 136 can be more reasonable.

[0188] Optionally, the carrier 11 has a first side and a second side in the first direction. The first end 211 of the pick-and-place assembly 21 is connected to the pick-and-place platform 28, and the second end 212 of the pick-and-place assembly 21 extends away from the carrier 11 and beyond the pick-and-place platform 28, and is located on the first side or the second side of the carrier 11.

[0189] In this way, the pick-and-place assembly 21 extends from the carrier 11 in a direction away from the workbench 3, thereby avoiding the pick-and-place device 2 occupying the space of the workbench 3, so as to reduce the volume and occupied space of the workbench 3. Moreover, the size of the pick-and-place assembly 21 in the first direction can be effectively reduced, thereby not only greatly reducing the volume and occupied space of the pick-and-place assembly 21, but also effectively reducing the time for conveying the target objects on the pick-and-place assembly 21.

[0190] Optionally, the carrier 11 has a first side and a second side in the first direction, and the pick-and-place platform 28 is connected between the first end 211 of the pick-and-place assembly 21 and the second end 212 of the pick-and-place assembly 21. The first end 211 of the pick-and-place assembly 21 extends away from the carrier 11 and beyond the pick-and-place platform 28 and is located on the first side of the carrier 11. The second end 212 of the pick-and-place assembly 21 extends away from the carrier 11 and beyond the pick-and-place platform 28 and is located on the second side of the carrier 11. In this way, the structure of the warehouse equipment 100 can be more reasonable.

[0191] The pick-and-place assembly 21 has a containing space 213, and the pick-and-place assembly 21 is configured to obtain the target objects from the designated positions and place them in the containing space 213, or obtain the target objects from the containing space 213 and place them in the designated positions. In this way, the structure of the pick-and-place assembly 21 can be more reasonable.

[0192] As shown in the figures, Figures 12-16 The pick-and-place assembly 21 includes a first support 22, a second support 23, and a pick-and-place piece 263.

[0193] The first support 22 has a first end 221 and a second end 222 opposite to each other in the first direction, and the first end 221 of the first support 22 is connected to the pick-and-place platform 28. The second support 23 has a first end 231 and a second end 232 opposite to each other in the first direction, and the first end 231 of the second support 23 is connected to the pick-and-place platform 28. The first support 22 and the second support 23 are spaced apart along a second direction to form a containing space 213, and the containing space 213 is provided with an opening in the first direction, and the second direction forms a preset angle with the first direction.

[0194] The pick-and-place member 263 is located between the first support 22 and the second support 23 in the second direction. The pick-and-place member 263 and the opening are at least one, and the pick-and-place member 263 is configured to pass through any one of the at least one opening to obtain the target object from the specified position or place the target object in the specified position. Alternatively, the pick-and-place member 263 and the opening are multiple, and the multiple pick-and-place members 263 are respectively configured to pass through the corresponding openings to obtain the target object from the specified position or place the target object in the specified position.

[0195] For example, the second end 222 of the first support 22 is away from the workbench 3 in the first direction relative to the first end 221 of the first support 22. The second end 232 of the second support 23 is away from the workbench 3 in the first direction relative to the first end 231 of the second support 23. That is, the first support 22 extends from the pick-and-place platform 28 in the first direction away from the workbench 3, and the second support 23 extends from the pick-and-place platform 28 in the first direction away from the workbench 3.

[0196] In other words, the first end 221 of the first support 22 is located between the workbench 3 and the second end 222 of the first support 22 in the first direction. The first end 231 of the second support 23 is located between the workbench 3 and the second end 232 of the second support 23 in the first direction.

[0197] Alternatively, the first end 221 of the first support 22 is located between the work station of the workbench 3 and the second end 222 of the first support 22 in the first direction. The first end 231 of the second support 23 is located between the work station of the workbench 3 and the second end 232 of the second support 23 in the first direction.

[0198] For example, the first end 221 of the first support 22 is the front end of the first support 22, and the second end 222 of the first support 22 is the rear end of the first support 22. The first end 231 of the second support 23 is the front end of the second support 23, and the second end 232 of the second support 23 is the rear end of the second support 23. The first support 22 and the second support 23 are spaced apart along the left-right direction.

[0199] As shown in Figures 13-16 The taking-and-placing assembly 21 further comprises a mounting base 29, which can be provided on the taking-and-placing platform 28. The first end 221 of the first support 22 and the first end 231 of the second support 23 are provided on the mounting base 29, i.e., the first end 221 of the first support 22 and the first end 231 of the second support 23 are provided on the carrying device 1 through the mounting base 29. In this way, the taking-and-placing assembly 21 can be more conveniently and stably mounted on the taking-and-placing platform 28.

[0200] Optionally, the mounting base 29 is flat. In this way, the mounting base 29 can be more conveniently and stably provided on the taking-and-placing platform 28, and the first support 22 and the second support 23 can be more conveniently and stably mounted on the mounting base 29.

[0201] As shown in Figure 13 and Figure 15 The first support 22 comprises a first support beam 224, a first mounting portion 225, and a first connecting portion 226. The first support beam 224 is connected to the first mounting portion 225 through the first connecting portion 226. The first mounting portion 225 is provided on the taking-and-placing platform 28. The size of the first mounting portion 225 in the first direction is smaller than the size of the first support beam 224 in the first direction. In this way, the space occupied by the first mounting portion 225 and the first support 22 can be reduced, and the space where the first mounting portion 225 is not provided can be used to avoid the cable. That is, by making the size of the first mounting portion 225 in the first direction smaller than the size of the first support beam 224 in the first direction, a space for avoiding the cable can be formed.

[0202] As shown in Figure 13 The first mounting portion 225 comprises a first plate portion 2251 and a first rod portion 2252, and the first rod portion 2252 is provided on the first plate portion 2251. The first rod portion 2252 is connected to the first support beam 224 through the first connecting portion 226. The first plate portion 2251 is provided on the taking-and-placing platform 28. For example, the first plate portion 2251 is provided on the mounting base 29. By connecting the first plate portion 2251 to the taking-and-placing platform 28, the first support 22 can be more stably and conveniently mounted on the taking-and-placing platform 28.

[0203] As shown in Figure 13 and Figure 16As shown in the figure, the second support 23 comprises a second support beam 234, a second mounting portion 235 and a second connecting portion 236, and the second support beam 234 is connected with the second mounting portion 235 through the second connecting portion 236. The second mounting portion 235 is arranged on the taking-and-placing platform 28. The size of the second mounting portion 235 in the first direction is smaller than the size of the second support beam 234 in the first direction. In this way, the space occupied by the second mounting portion 235 and the second support 23 can be reduced, and the space where the second mounting portion 235 is not arranged can be used to avoid the cable. That is, by making the size of the second mounting portion 235 in the first direction smaller than the size of the second support beam 234 in the first direction, the space for avoiding the cable can be formed.

[0204] As shown in the figure, Figure 13 The second mounting portion 235 comprises a second plate portion 2351 and a second rod portion 2352, and the second rod portion 2352 is arranged on the second plate portion 2351. The second rod portion 2352 is connected with the second support beam 234 through the second connecting portion 236. The second plate portion 2351 is arranged on the taking-and-placing platform 28. For example, the second plate portion 2351 is arranged on the mounting seat 29. By connecting the second plate portion 2351 with the taking-and-placing platform 28, the second support 23 can be more stably and conveniently mounted on the taking-and-placing platform 28.

[0205] As shown in the figure, Figure 13 and Figure 15 The first connecting portion 226 is a plurality of first connecting portions 226, and the plurality of first connecting portions 226 are arranged in the first direction. In this way, the first support beam 224 and the first mounting portion 225 can be more stably connected, so as to improve the structural strength of the first support 22. As shown in the figure, Figure 16 The second connecting portion 236 is a plurality of second connecting portions 236, and the plurality of second connecting portions 236 are arranged in the first direction. In this way, the second support beam 234 and the second mounting portion 235 can be more stably connected, so as to improve the structural strength of the second support 23.

[0206] Optionally, the upper end of the first connecting portion 226 is connected with the first support beam 224, and the lower end of the first connecting portion 226 is connected with the first mounting portion 225. The upper end of the second connecting portion 236 is connected with the second support beam 234, and the lower end of the second connecting portion 236 is connected with the second mounting portion 235. In this way, the structure of the first support 22 and the second support 23 can be more reasonable.

[0207] As shown in the figure, Figures 12-15 The second end 222 of the first support 22 is a free end, so that the first support 22 constitutes a first cantilever. In this way, the structure of the taking-and-placing assembly 21 can be more simple and reasonable. As shown in the figure, Figures 12-14 and Figure 16As shown, the second end 232 of the second support 23 is a free end, so that the second support 23 constitutes a second cantilever. In this way, the structure of the pick-and-place device 2 can be made simpler and more reasonable.

[0208] As shown in Figs. 1 and 2, the pick-and-place platform 28 comprises a first guide portion 281, and the pick-and-place assembly 21 comprises a second guide portion 241, the second guide portion 241 cooperating with the first guide portion 281 to guide movement of the pick-and-place assembly 21 in a second direction, the second direction being at a preset angle to the first direction. In this way, the pick-and-place assembly 21 can move in the second direction more accurately and stably. Figure 13 、 Figure 15 and Figure 16 As shown, the pick-and-place platform 28 comprises a first guide portion 281, and the pick-and-place assembly 21 comprises a second guide portion 241, the second guide portion 241 cooperating with the first guide portion 281 to guide movement of the pick-and-place assembly 21 in a second direction, the second direction being at a preset angle to the first direction. In this way, the pick-and-place assembly 21 can move in the second direction more accurately and stably.

[0209] Optionally, one of the first guide portion 281 and the second guide portion 241 has a cooperating slot, the cooperating slot having a dimension in the first direction that is less than or equal to a second preset value, and the other of the first guide portion 281 and the second guide portion 241 has a dimension in the first direction that is less than or equal to the second preset value. In this way, the stress on the one of the first guide portion 281 and the second guide portion 241 can be improved, so that the one of the first guide portion 281 and the second guide portion 241 can withstand the structural deformation and force brought by the first support 22 and the second support 23, in particular, the structural deformation and force brought by the first support 22 and the second support 23 constituting cantilevers, so as to make the pick-and-place assembly 21 more stably installed on the pick-and-place platform 28.

[0210] The dimension of the one of the first guide portion 281 and the second guide portion 241 in the first direction is greater than or equal to a third preset value. In this way, the stress on the one of the first guide portion 281 and the second guide portion 241 can be improved, so that the one of the first guide portion 281 and the second guide portion 241 can withstand the structural deformation and force brought by the first support 22 and the second support 23, in particular, the structural deformation and force brought by the first support 22 and the second support 23 constituting cantilevers, so as to make the pick-and-place assembly 21 more stably installed on the pick-and-place platform 28.

[0211] Optionally, the first guide portion 281 is at least two and is arranged in the first direction at intervals, and the second guide portion 241 is at least two and is arranged in correspondence with the first guide portion 281. In this way, not only can the pick-and-place assembly 21 move in the second direction more accurately and stably, but also the pick-and-place assembly 21 can be more stably installed on the pick-and-place platform 28.

[0212] The interval between the adjacent first guide portions 281 is greater than or equal to a first preset value. Thus, the stress on the second guide portion 241 can be improved, so that the second guide portion 241 can bear the structural deformation and force brought by the first support 22 and the second support 23, especially the structural deformation and force brought by the first support 22 and the second support 23 constituting a cantilever, so as to make the pick-and-place assembly 21 more stably installed on the pick-and-place platform 28.

[0213] For example, the first guide portion 281 is a guide rail, and the second guide portion 241 is a sliding block.

[0214] As shown in Figure 13 , Figure 15 and Figure 16 , the pick-and-place platform 28 comprises a rack 282, and the pick-and-place assembly 21 comprises a gear 242. The rack 282 extends in the second direction, and the rack 282 is located between the adjacent first guide portions 281 in the first direction. The gear 242 is engaged with the rack 282, so that the gear 242 is driven to move in the second direction by rotating the gear 242, thereby driving the pick-and-place assembly 21 to move in the second direction.

[0215] Optionally, the motor 271 drives the gear 242 to rotate. The driving shaft of the motor 271 is connected with the input shaft of the speed reducer 272, and the output shaft of the speed reducer 272 is connected with the gear 242. The speed reducer 272 is arranged on the mounting seat 29. Thus, the structure of the pick-and-place assembly 21 can be more reasonable.

[0216] As shown in Figure 13 and Figure 14 , the pick-and-place assembly 21 further comprises a first support portion 251 and a second support portion 252, and the first support portion 251 and the second support portion 252 are arranged at intervals in the first direction. The first support portion 251 is connected with each of the first support 22 and the second support 23, and the second support portion 252 is connected with each of the first support 22 and the second support 23. The first conveying member 261 of the pick-and-place assembly 21 is supported on the first support portion 251 and the second support portion 252, and the second conveying member 262 of the pick-and-place assembly 21 is supported on the first support portion 251 and the second support portion 252. Thus, the structure of the pick-and-place assembly 21 can be more reasonable.

[0217] Optionally, the first support portion 251 is connected with the first end portion 221 of the first support 22 and the first end portion 231 of the second support 23, and the second support portion 252 is connected with the second end portion 222 of the first support 22 and the second end portion 232 of the second support 23.

[0218] For example, the first support part 251 is located in front of the second support part 252. The first support part 251 is connected to the front end of the first support beam 224 and the front end of the second support beam 234, and the second support part 252 is connected to the rear end of the first support beam 224 and the rear end of the second support beam 234.

[0219] Optionally, the taking-and-placing member 263 is movably arranged between the disengaged position and the taking-and-placing position in the first direction. The taking-and-placing member 263 is movably arranged between the extended position and the retracted position in the up-down direction. When the taking-and-placing member 263 moves from the extended position to the retracted position, the taking-and-placing member 263 moves from up to down. When the taking-and-placing member 263 moves from the retracted position to the extended position, the taking-and-placing member 263 moves from down to up.

[0220] When the target object is transported by the taking-and-placing member 263, the taking-and-placing member 263 moves from the disengaged position to the taking-and-placing position and from the retracted position to the extended position. Then, the taking-and-placing member 263 transports the target object to the first transport member 261 and the second transport member 262, so as to transport the target object by the first transport member 261 and the second transport member 262. After the first transport member 261 and the second transport member 262 are started, the taking-and-placing member 263 moves from the extended position to the retracted position, so as to avoid interference between the taking-and-placing member 263 and the target object.

[0221] The taking-and-placing member 263 of the taking-and-placing device 2 can include a suction cup, a hook, a prong, a fork, a magnetic attraction structure, etc. The action force position of the suction cup on the container / goods is not limited to the midline position of the side of the container / goods, and can be adjusted according to the center of gravity of the container / goods. The hook can hook the edge of the side, the top edge, the bottom edge of the container / goods, the protrusion or handle on the container / goods, etc., and can also hook the groove, protrusion or handle on the bottom surface of the container / goods, etc. The taking-and-placing device 2 can take the container / goods in a single extension position, or can take the container / goods in multiple extension positions. Taking the suction cup as an example, the suction cup can be a one-way suction cup, and can take the container / goods in two directions by rotating itself; the suction cup can also be a two-way suction cup, and can take the container / goods in two directions.

[0222] Optionally, when the taking-and-placing device 2 transports the target object on the carrier to the workbench 3, the taking-and-placing member 263 moves from front to back, so as to move the taking-and-placing member 263 from the disengaged position to the taking-and-placing position. When the taking-and-placing device 2 transports the target object on the workbench 3 to the carrier, the taking-and-placing member 263 moves from back to front, so as to move the taking-and-placing member 263 from the disengaged position to the taking-and-placing position.

[0223] As Figure 1 , Figure 12 and Figures 17-24As shown, the warehouse equipment 100 further comprises a workbench 3, which comprises a main body 31 and a detector 34. The main body 31 comprises a work station 311. The detector 34 is arranged on the main body 31, and the minimum distance between the detector 34 and the pick-and-place assembly 21 in the first direction is greater than or equal to a preset value.

[0224] By making the minimum distance between the detector 34 and the pick-and-place assembly 21 in the first direction greater than or equal to the preset value, the detector 34 is closer to the worker and farther away from the pick-and-place assembly 21. Thus, when the worker’s body is mistakenly extended in the direction close to the pick-and-place assembly 21, the detector 34 can detect the worker’s body earlier and more timely, thereby providing more time for controlling the next operation of the pick-and-place assembly 21, so as to effectively avoid the interference between the worker’s body and the pick-and-place assembly 21 or the target object on the pick-and-place assembly 21, and further improve the safety.

[0225] The work station 311 of the workbench 3 can comprise a roller or a conveying line to facilitate the auxiliary transfer of containers / goods. The upper, lower or side of the workbench 3 can be provided with a buffer station / buffer rack for buffering containers or goods. The containers / goods on the buffer station / buffer rack can be taken away by the pick-and-place device 2 or manually. The side of the work station 311 of the workbench 3 can be provided with a conveying line to convey the picked goods. The side of the workbench 3 can be provided with a large piece, pallet, special-shaped piece, and traditional goods format mobile carrier docking area for manual picking.

[0226] As shown, Figure 23 The work station 311 has a first end 3111 and a second end 3112 in the first direction. When the worker is performing picking, seeding, or other operations on the workbench 3, the first end 3111 is adjacent to the worker relative to the second end 3112 in the first direction. The pick-and-place assembly 21 conveys the target object to the work station 311 through the second end 3112, and the worker performs picking, seeding, or other operations on the target object on the work station 311. The target object can be a good, a container containing a good, or the like.

[0227] The minimum distance between the detector 34 and the second end 3112 of the work station 311 in the first direction is greater than or equal to a preset value. Thus, when the worker’s body is mistakenly extended in the direction close to the pick-and-place assembly 21, the detector 34 can detect the worker’s body earlier and more timely, thereby providing more time for controlling the next operation of the pick-and-place assembly 21, so as to effectively avoid the interference between the worker’s body and the pick-and-place assembly 21 or the target object on the pick-and-place assembly 21, and further improve the safety.

[0228] For example, the first end 3111 of the work station 311 is located in front of the second end 3112 of the work station 311. The detector 34 is located behind the first end 3111.

[0229] As shown in Figures 17-24 , the workbench 3 further comprises a stopper provided on the main body 31, and the stopper is used to stop the operator from approaching the pick-and-place assembly 21. By providing the stopper, the body of the operator can be stopped by the stopper, so as to further prevent the body of the operator from extending in the direction of approaching the pick-and-place assembly 21 by mistake, so as to more effectively avoid the body of the operator from interfering with the pick-and-place assembly 21 and the target object on the pick-and-place assembly 21, and further improve the safety.

[0230] As shown in Figures 17-24 , the stopper comprises a first stopper 321. The main body 31 has a first side edge 312 and a second side edge 313 in a second direction perpendicular to the first direction, that is, the first side edge 312 and the second side edge 313 are opposite in the second direction. The work station 311 is located between the first side edge 312 and the second side edge 313 in the second direction. The first stopper 321 is provided on the main body 31 and located at at least one of the first side edge 312 and the second side edge 313.

[0231] By providing the first stopper 321, the body of the operator can be stopped by the first stopper 321, so as to further prevent the body of the operator from extending in the direction of approaching the pick-and-place assembly 21 from the side of the work station 311 by mistake, so as to more effectively avoid the body of the operator from interfering with the pick-and-place assembly 21 and the target object on the pick-and-place assembly 21, and further improve the safety.

[0232] As shown in Figure 24 , the workbench 3 further comprises a second stopper 322 provided on the main body 31 and spaced apart from the work station 311 and opposite to each other in a third direction perpendicular to the second direction and the first direction. By providing the second stopper 322, the body of the operator can be stopped by the second stopper 322, so as to further prevent the body of the operator from extending in the direction of approaching the pick-and-place assembly 21 by mistake, so as to more effectively avoid the body of the operator from interfering with the pick-and-place assembly 21 and the target object on the pick-and-place assembly 21, and further improve the safety.

[0233] As shown in Figure 17 , Figure 19 , Figure 20 , and Figures 22-24As shown, the main body 31 comprises a table body 314 and a mounting frame 315, the work station 311 is arranged on the table body 314, and the mounting frame 315 is connected to the table body 314. The first stopper 321 is connected to the table body 314 and the mounting frame 315, and the second stopper 322 is arranged on the mounting frame 315. At least one of the mounting frame 315, the first stopper 321 and the second stopper 322 is provided with the detector 34. In this way, the structure of the main body 31 and the workbench 3 can be more reasonable.

[0234] For example, the mounting frame 315 is adjacent to the second end 3112 in the first direction. For example, the mounting frame 315 is located behind the table body 314 (work station 311).

[0235] The table body 314 comprises a first mounting portion 3141 and a second mounting portion 3142, and the work station 311 is located between the first mounting portion 3141 and the second mounting portion 3142 in the second direction, i.e. the first mounting portion 3141 and the second mounting portion 3142 are opposite in the second direction. The mounting frame 315 comprises a third mounting portion 3153 and a fourth mounting portion 3154, and the work station 311 is located between the third mounting portion 3153 and the fourth mounting portion 3154 in the second direction, i.e. the third mounting portion 3153 and the fourth mounting portion 3154 are opposite in the second direction.

[0236] One of the first stoppers 321 is arranged on at least one of the first mounting portion 3141 and the third mounting portion 3153, and the other of the first stoppers 321 is arranged on at least one of the second mounting portion 3142 and the fourth mounting portion 3154. That is, the first side edge 312 of the main body 31 can comprise the first mounting portion 3141 and the third mounting portion 3153, and the second side edge 313 of the main body 31 can comprise the second mounting portion 3142 and the fourth mounting portion 3154.

[0237] The work station 311 is located between the two first stoppers 321 in the second direction. In this way, the two first stoppers 321 can be used to stop the body of the worker, so as to further prevent the body of the worker from extending in the direction of approaching the pick-and-place assembly 21 from the two sides of the work station 311, so as to more effectively avoid the body of the worker from interfering with the pick-and-place assembly 21 and the target object on the pick-and-place assembly 21, and further improve the safety.

[0238] As shown, Figures 17-24 The at least one of the first mounting portion 3141 and the third mounting portion 3153 is provided with a first mounting piece 331, the first mounting piece 331 has a first clamping groove, and one of the first stoppers 321 is clamped in the first clamping groove. The at least one of the second mounting portion 3142 and the fourth mounting portion 3154 is provided with a second mounting piece 332, the second mounting piece 332 has a second clamping groove, and the other of the first stoppers 321 is clamped in the second clamping groove.

[0239] By setting the first mounting member 331 with the first clamping groove and the second mounting member 332 with the second clamping groove, the two first stoppers 321 can be more stably and more conveniently installed on the main body 31 of the workbench 3.

[0240] As shown in Figures 17-19 and Figure 23 and Figure 24 , the first mounting part 3141 is provided with the first mounting member 331, and the third mounting part 3153 is provided with the third mounting member 333, which has a third clamping groove, and one first stopper 321 is clamped in the first clamping groove and the third clamping groove.

[0241] As shown in Figures 20-24 , the second mounting part 3142 is provided with the second mounting member 332, and the fourth mounting part 3154 is provided with the fourth mounting member 334, which has a fourth clamping groove, and the other first stopper 321 is clamped in the second clamping groove and the fourth clamping groove. In this way, the two first stoppers 321 can be installed on the table body 314 and the mounting frame 315, so that the two first stoppers 321 can be more stably and more conveniently installed on the main body 31 of the workbench 3.

[0242] Optionally, the first clamping groove penetrates the first mounting member 331 in the front-rear direction, and the second clamping groove penetrates the second mounting member 332 in the front-rear direction, and the openings of the first clamping groove and the second clamping groove are both open upward. The third clamping groove penetrates the third mounting member 333 in the up-down direction, and the fourth clamping groove penetrates the fourth mounting member 334 in the up-down direction, and the openings of the third clamping groove and the fourth clamping groove are both open forward. In this way, one first stopper 321 can be more conveniently clamped in the first clamping groove and the third clamping groove, and the other first stopper 321 can be more conveniently clamped in the second clamping groove and the fourth clamping groove.

[0243] As shown in Figure 17 , Figure 20 and Figure 23 , the mounting frame 315 has a third end part 3151 and a fourth end part 3152 opposite in the first direction, and the fourth end part 3152 is adjacent to the first end part 3111 opposite the third end part 3151 in the first direction. For example, the fourth end part 3152 is the front end part of the mounting frame 315, and the third end part 3151 is the rear end part of the mounting frame 315. The fourth end part 3152 includes the third mounting part 3153 and the fourth mounting part 3154, that is, the third mounting member 333 and the fourth mounting member 334 are both arranged on the fourth end part 3152 of the mounting frame 315. In this way, the structure of the workbench 3 can be more reasonable.

[0244] As shown in Figure 24As shown, the second stopper 322 is connected with at least one of the first stopper 321 and the fourth end 3152. In this way, the second stopper 322 can be more stably and conveniently installed.

[0245] For example, the first mounting member 331 and the second mounting member 332 are both arranged on the upper surface 3143 of the table body 314, and the third mounting member 333 and the fourth mounting member 334 are both arranged on the front surface 3155 of the mounting frame 315 (the fourth end 3152). The second stopper 322 is connected with each of the upper portion 3213 of each first stopper 321 and the front surface 3155 of the mounting frame 315 (the fourth end 3152).

[0246] In an embodiment of the present application, the mounting frame 315 is provided with a detector 34. Optionally, the fourth end 3152 of the mounting frame 315 is provided with the detector 34. In this way, the detector 34 can be closer to the worker and farther away from the pick-and-place assembly 21, so that the detector 34 can detect the worker's body earlier and more timely, so as to provide more time for the next operation (such as stopping the movement of the pick-and-place assembly 21) of the pick-and-place assembly 21, effectively avoiding the interference between the worker's body and the pick-and-place assembly 21 and the target object on the pick-and-place assembly 21, and further improving the safety.

[0247] Optionally, the detector 34 is a grating detector or a radar detector. The emission end 341 and the receiving end 342 of the grating detector can be arranged in the second direction (such as left and right direction) or in the up and down direction. The emission end 341 and the receiving end 342 of the grating detector can be directly opposite in the second direction or the up and down direction. The emission end 341 and the receiving end 342 of the grating detector can also be obliquely opposite in the second direction or the up and down direction, for example, the emission end 341 of the grating detector is located in front of (behind) the receiving end 342 of the grating detector.

[0248] In another embodiment of the present application, the first stopper 321 is provided with a detector 34. In this way, the detector 34 can be closer to the worker and farther away from the pick-and-place assembly 21, so that the detector 34 can detect the worker's body earlier and more timely, so as to provide more time for the next operation (such as stopping the movement of the pick-and-place assembly 21) of the pick-and-place assembly 21, effectively avoiding the interference between the worker's body and the pick-and-place assembly 21 and the target object on the pick-and-place assembly 21, and further improving the safety.

[0249] Optionally, the detector 34 is a grating detector or a radar detector. The emitting end 341 and the receiving end 342 of the grating detector can be arranged in the second direction (for example, the left-right direction) or the up-down direction. The emitting end 341 and the receiving end 342 of the grating detector can be directly opposite in the second direction or the up-down direction. The emitting end 341 and the receiving end 342 of the grating detector can be obliquely opposite in the second direction or the up-down direction, for example, the emitting end 341 of the grating detector is in front of (behind) the receiving end 342 of the grating detector.

[0250] As shown in Figure 19 , the emitting end 341 of the grating detector is arranged at one first stop 321 (the other first stop 321), as shown in Figure 22 , the receiving end 342 of the grating detector is arranged at the other first stop 321 (one first stop 321). For example, Figure 19 The first stop 321 shown is arranged at the first side edge 312 of the workbench 3, Figure 22 The first stop 321 shown is arranged at the second side edge 313 of the workbench 3.

[0251] In another embodiment of the utility model, the second stop 322 is provided with the detector 34. Thus, the detector 34 can be closer to the worker and farther away from the taking and placing assembly 21, so that the detector 34 can detect the worker's body earlier and more timely, so as to provide more time for the next operation (for example, stopping the taking and placing assembly 21) of the taking and placing assembly 21, effectively avoid the interference between the worker's body and the taking and placing assembly 21 and the target object on the taking and placing assembly 21, and further improve the safety.

[0252] Optionally, the detector 34 is a grating detector or a radar detector. The emitting end 341 and the receiving end 342 of the grating detector can be arranged in the second direction (for example, the left-right direction) or the up-down direction. The emitting end 341 and the receiving end 342 of the grating detector can be directly opposite in the second direction or the up-down direction. The emitting end 341 and the receiving end 342 of the grating detector can be obliquely opposite in the second direction or the up-down direction, for example, the emitting end 341 of the grating detector is in front of (behind) the receiving end 342 of the grating detector. For example, the emitting end 341 of the grating detector is arranged at the second stop 322 (the table body 314), and the receiving end 342 of the grating detector is arranged at the table body 314 (the second stop 322).

[0253] As shown in Figure 17 , Figure 20 , and Figure 23As shown, the main body 31 comprises a plurality of workstations 311, which are spaced apart along the second direction. The workbench 3 further comprises a shielding piece 323, which is arranged between two adjacent workstations 311. For example, the workstation 311 is located between the first stop piece 321 and the shielding piece 323 in the second direction, or the workstation 311 is located between two adjacent shielding pieces 323 in the second direction.

[0254] By arranging the shielding piece 323 between two adjacent workstations 311, the detection of each workstation 311 can be independent. When the body of the worker extends in the direction of the pick-and-place assembly 21 from one or more workstations 311, the detector 34 can detect the body of the worker, so as to stop the pick-and-place assembly 21 from delivering target objects to these workstations 311 and delivering target objects of these workstations 311 to other positions. The pick-and-place assembly 21 can deliver target objects to other workstations 311 (workstations 311 where the body of the worker is not detected) and deliver target objects of other workstations 311 to other positions, thereby improving work efficiency.

[0255] Optionally, at least one of the first stop piece 321 and the shielding piece 323 adjacent to each other is provided with the detector 34, and at least one of the shielding pieces 323 adjacent to each other is provided with the shielding piece 323. That is, at least one of the first stop piece 321 and the shielding piece 323 most adjacent to the first stop piece 321 in the second direction is provided with the detector 34. In this way, the accuracy of detection can be improved.

[0256] For example, at least one of one first stop piece 321 and the shielding piece 323 most adjacent to the one first stop piece 321 in the second direction is provided with the detector 34, and at least one of another first stop piece 321 and the shielding piece 323 most adjacent to the another first stop piece 321 in the second direction is provided with the detector 34.

[0257] The first stop piece 321 comprises a first edge 3215 and a second edge 3216 opposite in the first direction, and the shielding piece 323 comprises a first edge 3232 and a second edge 3233 opposite in the first direction. The first edge 3215, 3232 is farther away from the pick-and-place assembly 21 in the first direction than the second edge 3216, 3233, i.e., the first edge 3215, 3232 is closer to the first end 3111 of the workstation 311 in the first direction than the second edge 3216, 3233. The detector 34 is arranged at the first edge 3215.

[0258] Therefore, the detector 34 can be closer to the worker and farther away from the pick-and-place assembly 21, so that the detector 34 can detect the worker's body earlier and more timely, so as to provide more time for the next operation of the pick-and-place assembly 21, effectively avoid the interference between the worker's body and the pick-and-place assembly 21 or the target object on the pick-and-place assembly 21, and further improve the safety.

[0259] For example, the first edge 3215 of the first stopper 321 is a front edge, and the second edge 3216 of the first stopper 321 is a rear edge. The first edge 3232 of the shielding piece 323 is a front edge, and the second edge 3233 of the shielding piece 323 is a rear edge.

[0260] For example, the first edge 3215, 3232 of the at least one of the one first stopper 321 and the shielding piece 323 closest to the one first stopper 321 in the second direction is provided with the detector 34, and the first edge 3215, 3232 of the at least one of the other first stopper 321 and the shielding piece 323 closest to the other first stopper 321 in the second direction is provided with the detector 34.

[0261] As shown in Figures 17-23 The first edge 3215, 3232 includes an inclined segment 3217, 3234 inclined away from the pick-and-place assembly 21 in the first direction, and the detector 34 is arranged on the inclined segment 3217. That is, the first edge 3215 of the first stopper 321 includes the inclined segment 3217, and the first edge 3232 of the shielding piece 323 includes the inclined segment 3234.

[0262] Therefore, the detector 34 can be closer to the worker and farther away from the pick-and-place assembly 21, so that the detector 34 can detect the worker's body earlier and more timely, so as to provide more time for the next operation of the pick-and-place assembly 21, effectively avoid the interference between the worker's body and the pick-and-place assembly 21 or the target object on the pick-and-place assembly 21, and further improve the safety.

[0263] For example, the lower part of the inclined segment 3217 of the first stopper 321 is adjacent to the first end 3111 in the first direction relative to the upper part of the inclined segment 3217 of the first stopper 321, that is, the inclined segment 3217 of the first stopper 321 is inclined forward from top to bottom. The lower part of the inclined segment 3234 of the shielding piece 323 is adjacent to the first end 3111 in the first direction relative to the upper part of the inclined segment 3234 of the shielding piece 323, that is, the inclined segment 3234 of the shielding piece 323 is inclined forward from top to bottom.

[0264] Optionally, the inclined section 3217, 3234 of the at least one of the first stopper 321 and the cooperating cover 323 is provided with a detector 34. The inclined section 3234 of the at least one of the two adjacent covers 323 is provided with a detector 34.

[0265] Optionally, the detector 34 is a radar detector. For example, the inclined section 3217 of one of the first stoppers 321 is provided with a radar detector, or the inclined section 3234 of the cover 323 most adjacent to the one of the first stoppers 321 in the second direction is provided with a radar detector. The inclined section 3217 of another of the first stoppers 321 is provided with a radar detector, or the inclined section 3234 of the cover 323 most adjacent to the another of the first stoppers 321 in the second direction is provided with a radar detector. The inclined section 3234 of one of the two adjacent covers 323 is provided with a radar detector.

[0266] Optionally, the detector is a grating detector. For example, the inclined section 3234 of one of the two adjacent covers 323 is provided with a transmitting end 341 (receiving end 342) of a grating detector, and the inclined section 3234 of the other of the two adjacent covers 323 is provided with a receiving end 342 (transmitting end 341) of a grating detector.

[0267] The inclined section 3217 of one of the first stoppers 321 is provided with a transmitting end 341 (receiving end 342) of a grating detector, and the inclined section 3234 of the cover 323 most adjacent to the one of the first stoppers 321 in the second direction is provided with a receiving end 342 (transmitting end 341) of a grating detector. The inclined section 3217 of another of the first stoppers 321 is provided with a transmitting end 341 (receiving end 342) of a grating detector, and the inclined section 3234 of the cover 323 most adjacent to the another of the first stoppers 321 in the second direction is provided with a receiving end 342 (transmitting end 341) of a grating detector.

[0268] The utility model discloses a warehouse system. The warehouse system of the utility model includes carrier and warehouse equipment, and the warehouse equipment is the warehouse equipment 100 of the utility model. The warehouse equipment is configured to drive the taking and placing device 2 to move relative to the bearing device 1 according to the handling instruction to obtain the target object from the carrier or carry the target object to the carrier.

[0269] The target object can be goods or a container. The container can be a box, a container, a material container, a box, a tray, a file bag, a bulk bag, a packaging bag, etc.

[0270] Optionally, the warehouse equipment is configured to drive the taking and placing device 2 to move relative to the bearing device 1 according to the handling instruction to obtain the target object from the carrier and carry the target object to a specified position, or obtain the target object from the specified position and carry the target object to the carrier.

[0271] Optionally, the warehouse system further comprises a management system, and the warehouse device is communicatively connected with the management system. The management system is configured to send a carrying instruction to the warehouse device, and the warehouse device is configured to drive the taking and placing device 2 to move according to the carrying instruction to obtain the target object from the carrier or carry the target object to the carrier.

[0272] Optionally, the carrier comprises a shelf, and the warehouse device is configured to drive the taking and placing device 2 to move according to the carrying instruction to obtain the target object from the shelf or carry the obtained target object to the shelf. For example, the warehouse device can carry the target object on the shelf to the working position 311 of the workbench 3, and the worker performs picking, seeding, etc. on the target object on the working position 311. The warehouse device can also carry the target object on the working position 311 of the workbench 3 to the shelf.

[0273] Optionally, the carrier comprises a shelf, and the warehouse device is configured to drive the taking and placing device 2 to move according to the carrying instruction to obtain the target object from the shelf or carry the obtained target object to the shelf. For example, the warehouse device can carry the target object on the shelf to the working position 311 of the workbench 3, and the worker performs picking, seeding, etc. on the target object on the working position 311. The warehouse device can also carry the target object on the working position 311 of the workbench 3 to the shelf.

[0274] Optionally, the carrier comprises a first shelf and a second shelf. The warehouse device is configured to drive the taking and placing device 2 to move according to the carrying instruction to obtain the target object from at least one of the first shelf and the second shelf, or carry the obtained target object to at least one of the first shelf and the second shelf. The warehouse device can carry the target object obtained from at least one of the first shelf and the second shelf to the workbench 3, the bin robot, etc.

[0275] Alternatively, the warehouse device is configured to drive the taking and placing device 2 to move according to the carrying instruction to carry the target object of one of the first shelf and the second shelf to the other of the first shelf and the second shelf, to realize restocking between the first shelf and the second shelf.

[0276] Optionally, the carrier comprises a seeding wall, and the warehouse device is configured to drive the taking and placing device 2 to move according to the carrying instruction to obtain the target object from the seeding wall or carry the obtained target object to the seeding wall.

[0277] Optionally, the carrier comprises a sorting device, and the warehouse device is configured to drive the taking and placing device 2 to move according to the carrying instruction to obtain the target object from the sorting device or carry the obtained target object to the sorting device.

[0278] Optionally, the plurality of carriers include one or more of a rack, a bin robot, a seeding wall, and a sorting device. The designated location can be a station 311 of the worktable 3, a rack, a tray, a seeding wall, or a carrying position of the bin robot.

[0279] Optionally, the storage system further includes a carrier device configured to carry the carrier to or from the work area of the storage device. The carrier can be a mobile rack.

[0280] Optionally, the storage system further includes a plurality of platforms spaced apart in the height direction, each platform being provided with at least one carrier, and a carrier device configured to carry the target object or the carrier with the target object to the work area of the storage device so that the storage device obtains the target object and carries the target object to a designated location. The designated location can be a station 311 of the worktable 3, a rack, a tray, a seeding wall, or a carrying position of the bin robot.

[0281] Optionally, the storage system further includes a plurality of platforms spaced apart in the height direction. Each platform is provided with at least one carrier device, and each platform corresponds to at least one carrier, which can be a container, a rack, a tray, or a seeding wall. The carrier can be placed on the corresponding platform, or adjacent to the corresponding platform. The carrier device is configured to carry the target object obtained from the storage device to the carrier on the corresponding platform.

[0282] The at least one platform is spaced apart from the ground in the height direction, and the inventory area of each platform is an area for storing goods. The inventory area can be provided with a plurality of carriers, which can be containers for storing goods, or racks for storing goods or containers. The container is used to store goods, for example, the inventory area can be provided with a plurality of racks, which can be fixed racks, movable racks, partitioned racks, etc. The position of the fixed rack on the platform is fixed, and the position of the movable rack in each platform can be changed. The rack can be a multi-layer rack, and each layer of the rack can include at least one storage position (i.e., a goods position). The storage position is used to prevent goods or containers with goods.

[0283] As shown in Figure 25 For example, the at least one platform can include a first platform 4 provided with a first inventory area 41, and a second platform 5 arranged above the first platform in the height direction, the second platform 5 being provided with a second inventory area 51.

[0284] Optionally, the inventory area of each layer of the platform can be placed with multiple carriers, and each inventory area can be provided with multiple carrying channels, and the carrying channels are used for the movement of carrying devices between the inventory area and the work area to carry target objects or target containers placed with target objects or target carriers where the target objects are placed.

[0285] Optionally, the inventory area can be divided into multiple storage units according to the set carrying channels, and each storage unit can include multiple carriers, and the storage units are provided with carrying channels. As shown in Figure 26 is a schematic view of a first platform, and the first inventory area 41 includes multiple first storage units 411, as shown in Figure 27 is a schematic view of a second platform, and the second inventory area 51 includes multiple second storage units 511, and each of the multiple first storage units and the multiple second storage units includes at least one carrier 4111, and each carrier includes at least one storage site, and each storage site is placed with a container; the number of the multiple first storage units is less than or equal to the number of the multiple second storage units, or the average number of carriers of the multiple first storage units is less than or equal to the average number of carriers of the multiple second storage units.

[0286] In other words, the second platform can realize dense storage, for example, when the carriers are shelves, the number of shelves on the first platform is less than or equal to the number of shelves on the second platform, the density of the shelves in the first inventory area is less than or equal to the density of the shelves on the second platform, or the shelf density of the first storage unit is less than or equal to the shelf density of the multiple second storage units, or the shelves of the second platform can be dense storage shelves (i.e. the shelves have more storage sites), and the shelves of the first platform can be non-dense storage shelves, which can improve the storage capacity of the storage area.

[0287] Further, the first carrying channels 412 are arranged between the multiple first storage units, and the carrying devices on the first platform are used to carry the target containers on the first platform or the target carriers where the target containers are placed to the storage devices through the first carrying channels; the second carrying channels 512 are provided between the second storage units, and the carrying devices on the second platform are used to carry the target containers on the second platform or the target carriers where the target containers are placed to the storage devices through the second carrying channels.

[0288] Further, as shown in Figure 26 and Figure 27As shown, at least one platform is provided with multiple support structures 6, which extend along the height direction so that at least one platform is spaced apart from the ground along the height direction. The multiple support structures are also spaced apart in a direction perpendicular to the height direction. The support structures can be, for example, steel columns, that is, multiple platforms can be built using steel columns. Multiple shelves can be placed on each platform, and the multiple shelves can constitute the aforementioned first storage area or second storage area.

[0289] Optionally, the first platform may include a first storage area, which may be provided with a transport channel for transport equipment to perform transport tasks. That is, multiple transport equipment may be distributed in the transport channel of the first storage area. The first platform may be provided with storage equipment. Optionally, in one implementation, the bottom of the storage equipment may be installed on the first platform, but it is not limited to this. The bottom of the storage equipment may also be installed on other platforms.

[0290] like Figure 26 As shown, the first platform may further include a working area 7 for storage equipment. This working area can be used for docking between the storage equipment and handling equipment. For example, the handling equipment can retrieve a target object from a carrier in the first storage area and then transport it to the working area of ​​the storage equipment via a handling channel. In the working area, the handling equipment can transfer the retrieved target object to the storage equipment. Optionally, the handling equipment may have a pick-and-place mechanism for picking up and placing goods and / or containers. For example, when the carrier is a shelf, the pick-and-place mechanism can move to the location of the container on the shelf, align the pick-and-place mechanism with the container, and then retrieve the corresponding container. The pick-and-place mechanism may include suction cups, hooks, levers, grippers, magnetic suction, etc. The force application position of the suction cup to the container / target object is not limited to the centerline of the container / target object's side; it can also be adjusted according to the center of gravity of the container / target object. The hook can hook the edge, top edge, bottom edge, protrusions, or handles on the side of the container / target object, and can also hook the grooves, protrusions, or handles on the bottom surface of the container / target object. The pick-and-place mechanism can retrieve and return containers / target objects in a single or multiple positions. Taking a suction cup as an example, the suction cup can be a unidirectional suction cup that picks up containers / target objects in two directions by rotating itself; the suction cup can also be a bidirectional suction cup that picks up containers / target objects in two directions.

[0291] Furthermore, the handling equipment is configured to perform at least one of the following: move to the storage area to handle target items, target containers, or target carriers; transport the target items, target containers, or target carriers to the work area so that the storage equipment can retrieve the target items or target containers containing the target items and transport the target items or target containers containing the target items to a designated location; transport the target items, target containers containing the target items, or the target carriers containing the target containers from the work area to the storage area. The designated location includes at least one of the following: a work area, a workstation, a shelf, a pallet, a pick-and-place wall, or a carrying position for the handling equipment. The workstation is an area for workers to perform picking, and the workstation may include at least one workstation, each workstation may hold up to one container, and workers may pick containers from multiple workstations at one workstation. The pick-and-place wall may have multiple pick-and-place positions, each pick-and-place position may hold one container, and the container is used to hold the sorted target items.

[0292] For example, the handling equipment can take containers from the storage area and move them to the work area. The storage equipment can then take containers from the work area and transport them to the workstations. At the workstations, workers can pick out the target items from the containers and place them in containers on the seeding wall to complete the picking process.

[0293] For example, the handling equipment can move shelves from the inventory to the work area. The storage equipment can take containers from the shelves moved by the handling equipment in the work area and transport the containers to the workstations. The workers at the workstations can pick out the target items from the containers and place them in the containers on the seeding wall to complete the picking process.

[0294] Optionally, the carrying position of the handling equipment is the position on the handling equipment itself used to carry goods. The carrying position is used to carry the target object or container. For example, the handling equipment can take the box from the shelf and place the box on the carrying position. The name of the carrying position can also be a buffer position, a basket, etc.

[0295] Optionally, the layout of other platforms can be the same as or different from that of the first platform. That is, the location of the inventory area, the location of the storage equipment, the location of the work area, the number and type of vehicles, etc. of other platforms can be the same as or different from those of the first platform.

[0296] Alternatively, in a two-tier platform warehousing system implementation, such as Figure 25 As shown, the second platform 5 has a void in the hollow region 52, as... Figure 27The diagram shows a second platform. In an optional two-layer platform scenario, the first platform is the first-layer platform and the second platform is the second-layer platform. The second platform is positioned above the first platform along the height direction. The second storage area 51 is arranged around the storage equipment 100. The second platform is connected to the first platform through a hollow area, so that the storage equipment 100 extends to the top of the second platform through the hollow area. The storage equipment is configured to acquire target objects on at least both sides of the hollow area of ​​the second platform, or to place target objects on at least both sides of the hollow area of ​​the second platform.

[0297] In other words, in the above two-platform scenario, the hollow area can be set in the middle of the second platform, and the storage equipment can be set in the middle of the first platform, extending to the top of the second platform through the hollow area in the middle.

[0298] Alternatively, in another two-platform scenario, the work area 7 is located on the first side of the first platform, and the corresponding area of ​​the second platform on the first side is open, so that at least one handling device extends above the second platform.

[0299] In other words, in the above two-platform scenario, the storage equipment can be set on one side of the first platform, that is, the storage equipment can be installed on the side of the first platform, and the side of the second platform can have an open area, and the storage equipment can extend from the first platform to the second platform on the side.

[0300] Furthermore, in the scenario of a multi-layer platform, at least one layer of the platform is arranged around the storage equipment; or, at least one side of at least one layer of the platform is provided with the storage equipment, that is, the storage equipment can be placed on the side of the platform or in the middle area of ​​the platform.

[0301] Optionally, such as Figure 28 As shown, the types of storage equipment include a first type and a second type. The size of the support component of the first type of storage equipment 101 is greater than or equal to the size of the support component of the second type of storage equipment 102. The working height of the picking and placing device of the first type of storage equipment is greater than the working height of the picking and placing device of the second type of storage equipment, so that the number of platforms that the first type of storage equipment can dock with is greater than the number of platforms that the second type of storage equipment can dock with.

[0302] Further, the number or proportion of the first type of storage device and the second type of storage device is a default value; or the number or proportion of the first type of storage device and the second type of storage device is related to the area of the platform where the first type of storage device is located and the area of the platform where the second type of storage device is located; or the number or proportion of the first type of storage device and the second type of storage device is related to the cargo heat of the platform where the first type of storage device is located and the cargo heat of the platform where the second type of storage device is located. In other words, the number or proportion of the first type of storage device and the second type of storage device can be a fixed value, or can be determined according to the area and / or cargo heat of the first inventory area and the second inventory area.

[0303] Optionally, the cargo heat of the first inventory area is greater than or equal to the cargo heat of the second inventory area, and the cargo heat is used to represent the probability of the cargo being hit. For example, when the area of the second inventory area is small, and the cargo heat in the first inventory area is high, and the cargo heat in the second inventory area is low, the storage device is usually used for picking the cargo box in the first inventory area, at this time, the number of the second type of storage device can be more than the number of the first type of storage device, so as to reduce the cost; or, the first inventory area and the second inventory area both store high-heat and low-heat cargos, and the area of the second inventory area is large, the number of the first type of storage device can be increased, for example, the number of the first type and the second type of storage device can be equal, which can improve the sorting efficiency.

[0304] Further, the working area includes: a waiting area 71, an operation area 72, and a driving-off area 73, wherein the handling device carries the target object or target container or target carrier to the operation area to enable the taking and placing device of the storage device to take and place the target object or target container; the handling device queues in the waiting area to wait for entering the operation area; the handling device drives off through the driving-off area after taking the target object or target container; at least one of the waiting area and the driving-off area is arranged side by side with the operation area, such as Figure 29 For the optional routes of the two handling devices entering and driving off the operation area, for example, the handling device can carry the target object or target container or target carrier from the queuing area to the operation area, and deliver the carried target object or target container or target carrier to the storage device in the operation area; after the storage device can transport the target object or target container to the workbench for picking, the storage device can take the target object or target container from the workbench, and can carry the target object or target container or target carrier from the operation area to the driving-off area, and can leave the working area from the driving-off area to place the target object or target container or target carrier in the inventory area.

[0305] In combination with the above embodiments, the warehouse system provided by the utility model can be used to construct a warehouse system capable of realizing multi-layer platform storage, each layer of platform can be provided with multiple shelves, in a two-layer platform warehouse system scenario, the second platform located at the second layer can be stored in a dense storage mode, and the storage capacity of the warehouse system can be improved; the first type of warehouse equipment and the second type of warehouse equipment can be used to cooperatively perform multi-layer platform warehouse management, such as picking, cargo arrangement, and restocking, so as to improve the task execution efficiency; the taking and placing device of the first type of warehouse equipment can move up and down along the height direction, so as to move between the first platform and the second platform, so as to cooperate with the carrying equipment of the first platform and the second platform to execute taking and placing of the container, without the need of the carrying equipment to carry the container or the shelf from the second platform to the first platform, and the efficiency of taking and placing the container can be improved.

[0306] In combination with the above embodiments, the following specific example is used to explain the above multi-layer warehouse scenario.

[0307] As shown in the figure, Figure 25 In an implementation manner, the warehouse system can include a first platform 4 and a second platform 5, the first platform and the second platform are spaced apart from the ground along the height direction, wherein the first platform is provided with a first inventory area 41, and the second platform is provided with a second inventory area 51, the first inventory area and the second inventory area each contain multiple shelves (i.e., carriers), the shelves have storage locations for storing goods or containers, and the second platform has a hollow area 52.

[0308] Optionally, the warehouse equipment can include a first type of warehouse equipment and a second type of warehouse equipment, the size of the carrier (i.e., the column) of the first type of warehouse equipment is greater than or equal to the size of the carrier of the second type of warehouse equipment, and the working height of the taking and placing device of the first type of warehouse equipment is greater than the working height of the taking and placing device of the second type of warehouse equipment, so that the number of platforms capable of being docked by the first type of warehouse equipment is greater than the number of platforms capable of being docked by the second type of warehouse equipment.

[0309] As shown in the figure, Figure 25 The warehouse equipment 100 is actually a first type of warehouse equipment, which can extend through the hollow area to the second platform, and the warehouse equipment 100 has a taking and placing device, which can be arranged on the column structure of the warehouse equipment 100 and can move up and down along the height direction to lift between the first platform and the second platform to obtain the goods / container on the first platform or the goods / container on the second platform. The warehouse equipment can cooperate with the workbench 3 to carry the goods / container to the workbench for picking or obtain the goods / container from the workbench.

[0310] As shown in the figure, Figure 26The diagram shows a top view of a first platform, wherein the first platform and the second platform are connected by a support structure 6. The first storage area 41 includes multiple first storage units 411, and each first storage unit may include multiple shelves (i.e., carriers 4111). The first platform is provided with multiple first transport channels 412 for transport equipment to perform transport tasks.

[0311] Optionally, the first platform also includes workspace 7, such as Figure 29 As shown, the work area includes a waiting area 71, an operation area 72, and a departure area 73. The transport equipment can enter the operation area via the waiting area and perform tasks such as picking up and placing goods or containers there. Afterwards, it can leave the work area via the departure area; that is, the transport equipment can leave the work area after turning in the departure area, or it can directly cross the departure area to leave the work area. Optionally, multiple transport devices are arranged on both the first and second platforms. These transport devices are used to perform transport tasks between the storage area and the work area 7, and they can perform transport tasks within the transport channels.

[0312] In some embodiments, such as Figure 27 The diagram shows a top view of a second platform, wherein the second storage area 51 may include multiple second storage units 511, each storage unit may include multiple shelves (carriers 4111), and the second platform includes a second transport channel 512 and a work area 7. The work area is used by the transport equipment of the second platform to transport goods / containers to the storage equipment, or to transport goods / containers from the storage equipment back to the storage area. The second platform may have a hollow area in the middle, and the first type of storage equipment may extend through the hollow area to the second platform. The second storage area may be arranged around the storage equipment, that is, shelves may be provided on all four sides of the storage equipment.

[0313] Alternatively, the storage equipment can be located on one side of the first platform, in which case the side of the second platform corresponding to the storage equipment has a hollow area. The first type of storage equipment extends to the second platform through the hollow area on the side. In this case, the second storage area is not located on the rear side of the storage equipment, and the side of the storage equipment equipped with the pick-and-place device is the front side.

[0314] Optionally, in the above two-layer platform scenario, the heat of the goods stored in the first platform is generally higher than the heat of the goods stored in the second platform, or goods with high heat and low heat can be stored in the first platform and the second platform; in the above two-layer platform scenario, the number or ratio of the first type of storage device and the second type of storage device is a default value; or, the number or ratio of the first type of storage device and the second type of storage device is related to the area of the platform where the first type of storage device is located and the area of the platform where the second type of storage device is located; or, the number or ratio of the first type of storage device and the second type of storage device is related to the heat of the goods in the platform where the first type of storage device is located and the heat of the goods in the platform where the second type of storage device is located. The utility model is not limited in this regard. In summary, the above examples of the present disclosure can realize the cooperation of the first type of storage device and the second type of storage device to perform storage management of the multi-layer platform, such as performing tasks such as picking, sorting, and replenishment, to improve task execution efficiency.

[0315] In the description of the utility model, it is understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the utility model and simplifying the description, and therefore cannot be understood as limiting the utility model.

[0316] In addition, the terms "first" and "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first" and "second" can explicitly or implicitly include at least one of the features. In the description of the utility model, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0317] In the utility model, unless otherwise specifically defined and limited, the terms "mounting", "connection", "connection", "fixing" and other terms should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected or in communication with each other; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise specifically limited. For ordinary skilled persons in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0318] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be that the first feature is directly above or obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be that the first feature is directly below or obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

Claims

1. A warehousing system characterized by, The application relates to a warehouse system comprising: at least one layer of platforms, which are arranged to be spaced apart from the ground in a height direction, wherein each layer of platforms is arranged with an inventory area and a working area of a storage device, and the inventory area is provided with at least one carrier, and each carrier is arranged to store at least one container; at least one storage device, which comprises a carrier device and a taking and placing device movably arranged on the carrier device, and the storage device is configured to move the taking and placing device relative to the carrier device at least in the height direction to obtain a target object or a target container with a target object from a designated position of the at least one layer of platforms, or to place the obtained target object or the target container with a target object at the designated position; at least one carrying device, and each layer of platforms is arranged with at least one carrying device, and the carrying device is configured to move between the inventory area and the working area to carry a target object or a target container with a target object or a target carrier of the target container, and the target carrier is any carrier on any layer of platforms.

2. The warehousing system according to claim 1, characterized in that, The carrying device is configured to perform at least one of the following: moving to the inventory area to carry the target object or the target container or the target carrier; carrying the target object or the target container or the target carrier to the working area, so that the storage device obtains the target object or the target container with a target object and carries the target object or the target container with a target object to a designated position; carrying the target object or the target container with a target object or the target carrier of the target container from the working area to the inventory area.

3. The warehousing system according to claim 1, characterized in that, The storage device further comprises a workbench, and the workbench is provided with at least one work station; and the at least one storage device is configured to perform at least one of the following: moving the target object or the target container with a target object on the at least one layer of platforms, or the target object or the target container with a target object carried by the carrying device on the at least one layer of platforms, or the target carrier of the target container carried by the carrying device on the at least one layer of platforms, to the work station of the workbench by moving the taking and placing device relative to the carrier device at least in the height direction; carrying the target object or the target container with a target object picked from the work station of the workbench to the platform where the target container belongs, or to the storage device on the platform where the target container belongs, or to the target carrier on the platform where the target container belongs.

4. The warehousing system according to claim 1, characterized in that, The at least one layer of platforms is arranged around the storage device; or at least one side of the at least one layer of platforms is arranged with the storage device.

5. The warehousing system according to claim 1, characterized in that, The designated position comprises at least one of the following: the working area, the work station of the workbench, a shelf, a tray, a sowing wall, and a carrying position of the carrying device.

6. The warehousing system according to claim 1, characterized in that, The at least one platform comprises: a first platform, which is arranged with a first inventory area; a second platform, which is arranged above the first platform in the height direction, and the second platform is arranged with a second inventory area.

7. The warehousing system according to claim 6, characterized in that, The second platform is hollowed in a hollow region, the second inventory area is arranged around the storage device, the second platform is communicated with the first platform through the hollow region, so that the handling device extends above the second platform through the hollow region, and the storage device is configured to obtain or place a target object on at least two sides of the second platform in the hollow region.

8. The warehousing system according to claim 6, characterized in that, The working area is arranged on a first side of the first platform, and a corresponding region of the second platform on the first side is hollowed to enable the at least one handling device to extend above the second platform.

9. The warehousing system according to claim 6, characterized in that, The first inventory area has a higher or equal goods heat than the second inventory area, and the goods heat is used to represent the probability of a container where goods are located being hit.

10. The warehousing system according to any one of claims 6 to 9, characterized in that, The first inventory area includes a plurality of first storage units, and the second inventory area includes a plurality of second storage units, each of the plurality of first storage units and the plurality of second storage units includes at least one carrier, and each carrier includes at least one storage site, and each storage site is arranged with a container. The number of the plurality of first storage units is less than or equal to the number of the plurality of second storage units, or the average number of carriers in the plurality of first storage units is less than or equal to the average number of carriers in the plurality of second storage units.

11. The warehousing system according to claim 10, characterized in that, The plurality of first storage units are arranged with a first handling channel, and the handling device on the first platform is used to handle a target container on the first platform or a target carrier where the target container is located to the storage device through the first handling channel. The second storage units have a second handling channel, and the handling device on the second platform is used to handle a target container on the second platform or a target carrier where the target container is located to the storage device through the second handling channel.

12. The storage system according to any one of claims 1 to 9, characterized in that: The bearing device includes at least two bearings, and the bearings are arranged at intervals from each other; The taking and placing device includes a taking and placing assembly and a taking and placing platform, the taking and placing platform is movably arranged between adjacent bearings, the taking and placing assembly is connected with the taking and placing platform, the taking and placing assembly has a first end and a second end opposite in a first direction, at least one of the first end and the second end extends away from the bearing in the first direction and extends out of the taking and placing platform, and the taking and placing assembly is configured to obtain a target object or a target container with a target object from a specified position or place the obtained target object or the target container with the target object in the specified position.

13. The warehousing system according to claim 12, characterized in that, The taking and placing assembly has a containing space, and the taking and placing assembly is configured to obtain a target object from the specified position and place the target object in the containing space or obtain a target object from the containing space and place the target object in the specified position.

14. The warehousing system of claim 12, wherein, The taking and placing assembly includes: A first support having a first end and a second end opposite in the first direction, and the first end of the first support is connected with the taking and placing platform; a second support member having a first end and a second end opposite to each other in the first direction, the first end of the second support member being connected to the taking-and-placing platform, the first support member and the second support member being spaced apart in a second direction to form an accommodation space, the accommodation space being provided with an opening in the first direction, the second direction being at a preset angle with the first direction; and a taking-and-placing member located between the first support member and the second support member in the second direction, wherein the taking-and-placing member and the opening are at least one and the taking-and-placing member is configured to obtain or place a target object or a target container with a target object from or at the specified position through any one of the at least one opening, or the taking-and-placing member and the opening are a plurality of and a plurality of the taking-and-placing members are configured to obtain or place a target object or a target container with a target object from or at the specified position through the corresponding openings, respectively.

15. The warehousing system of claim 12, wherein, The carrying device further comprises: a driving member; and an execution assembly comprising a first rotating member, a second rotating member and a first connecting member, the first rotating member and the second rotating member being spaced apart in a third direction and rotatable relative to the carrying member, the third direction being the height direction, the driving member being connected to the first rotating member, the first connecting member being arranged outside the first rotating member and the second rotating member, the first connecting member being connected to the taking-and-placing platform, the execution assembly being configured to drive the taking-and-placing platform to move in the third direction, so that the storage device obtains or places a target object or a target container with a target object from or at the specified position of the at least one layer of platforms.

16. The warehousing system of claim 12, wherein, The carrying device further comprises: an execution assembly arranged on the carrying member; a transmission assembly connected to two execution assemblies on two adjacent carrying members, respectively; and a driving member connected to the transmission assembly to drive the two execution assemblies to operate synchronously through the transmission assembly, so that the taking-and-placing device moves relative to the carrying device at least in the height direction to obtain or place a target object or a target container with a target object from or at the specified position of the at least one layer of platforms.

17. The warehousing system of claim 12, wherein, The carrying member extends in a third direction, and when the size of the carrying member in the third direction is greater than or equal to a threshold value, the carrying member is provided with a reinforcing member; The types of the storage devices include a first type and a second type, the size of the carrier of the storage device of the first type is greater than or equal to the size of the carrier of the storage device of the second type, the working height of the taking and placing device of the storage device of the first type is greater than the working height of the taking and placing device of the storage device of the second type, and the number of platforms capable of being docked by the storage device of the first type is greater than the number of platforms capable of being docked by the storage device of the second type.

18. The storage system of claim 17, wherein, The number or proportion of the first type of storage device and the second type of storage device is a default value; or, The number or proportion of the first type of storage device and the second type of storage device is related to the area of the platform where the first type of storage device is located and the area of the platform where the second type of storage device is located; or, The number or proportion of the first type of storage device and the second type of storage device is related to the cargo heat of the platform where the first type of storage device is located and the cargo heat of the platform where the second type of storage device is located.

19. The warehousing system according to any one of claims 1 to 9, characterized in that, The storage device is configured to drive the taking and placing device to move relative to the carrying device according to the carrying instruction to obtain a target object or a target container with a target object from a specified position of the at least one layer of platform, or place the obtained target object or the target container with the target object in the specified position.

20. The warehousing system of claim 19, wherein, Further comprising a management system, the storage device is in communication connection with the management system, the management system is configured to send a carrying instruction to the storage device, and the storage device is configured to drive the taking and placing device to move according to the carrying instruction.

21. The warehousing system of claim 19, wherein, The carrier includes at least one of the following: a shelf, a tray, a seeding wall, a bin robot, and a sorting device, wherein: The carrier is a shelf, and the storage device is configured to drive the taking and placing device to move according to the carrying instruction to obtain a target object from the shelf or carry the obtained target object to the shelf; The carrier is a bin robot, and the storage device is configured to drive the taking and placing device to move according to the carrying instruction to obtain a target object from the bin robot or carry the obtained target object to the bin robot; The carrier includes a first shelf and a second shelf, and the storage device is configured to drive the taking and placing device to move according to the carrying instruction to obtain a target object from at least one of the first shelf and the second shelf, or carry the obtained target object to at least one of the first shelf and the second shelf, or carry a target object of one of the first shelf and the second shelf to the other one of the first shelf and the second shelf; The carrier is a seeding wall, and the storage device is configured to drive the taking and placing device to move according to the carrying instruction to obtain a target object from the seeding wall or carry the obtained target object to the seeding wall; The carrier is a sorting device, and the storage device is configured to drive the taking and placing device to move according to the carrying instruction to obtain the target object from the sorting device or carry the obtained target object to the sorting device. The carriers are multiple, and the storage device is configured to drive the taking and placing device to move according to the carrying instruction to carry the target object located in at least one carrier to at least another carrier or a specified position, or carry the target object located in the specified position to at least one carrier, wherein the multiple carriers include one or more of a shelf, a bin robot, a seeding wall, a sorting device, and a multi-layer sorting platform.

22. The warehousing system according to any one of claims 1 to 9, characterized in that, A plurality of support structures are arranged between the at least one layer of platforms, and the plurality of support structures extend along the height direction to space the at least one layer of platforms from the ground along the height direction, and the plurality of support structures are arranged in a direction perpendicular to the height direction.

23. The warehousing system according to any one of claims 1 to 9, characterized in that, The working area includes a waiting area, an operation area, and a departure area. The carrying device carries the target object or the target container or the target carrier to the operation area to enable the taking and placing device of the storage device to take and place the target object or the target container; the carrying device queues in the waiting area to enter the operation area; and the carrying device departs through the departure area after taking and placing the target object or the target container. At least one of the waiting area and the departure area is arranged side by side with the operation area.

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